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Robot system reliability analysis method based on Gaussian multi-ellipsoid model

A robot system and analysis method technology, applied in the field of robot system reliability analysis based on Gaussian multi-ellipsoid model, can solve the problems of robot system uncertainty measurement and propagation reliability analysis, and achieve high engineering practical value and high precision , Measure and disseminate accurate effects

Pending Publication Date: 2020-03-20
HEBEI UNIV OF TECH
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Problems solved by technology

[0003] The present invention aims at the technical defects of the prior art, and provides a reliability analysis method of a robot system based on the Gaussian multi-ellipsoid model to solve the problems of uncertainty measurement and propagation and reliability analysis in the robot system

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  • Robot system reliability analysis method based on Gaussian multi-ellipsoid model
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  • Robot system reliability analysis method based on Gaussian multi-ellipsoid model

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Embodiment Construction

[0044] Specific embodiments of the present invention will be described in detail below. In order to avoid too many unnecessary details, well-known structures or functions will not be described in detail in the following embodiments. Approximate language used in the following examples is for quantitative representations, indicating that certain variations in quantities are permissible without altering essential function. Unless defined otherwise, technical and scientific terms used in the following examples have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0045] A reliability analysis method of robot system based on Gaussian multi-ellipsoid model, the flow chart is as follows figure 1 As shown, it specifically includes the following steps:

[0046] Step 1: Determine the uncertain parameters of the UAV aerial photography system in the embodiment, including the wall thickness H of the camera housing, the length ...

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Abstract

The invention provides a robot system reliability analysis method based on a Gaussian multi-ellipsoid model. The technical scheme comprises: determining design variables; counting a sample mean value,a standard deviation and a covariance; acquiring a system response value by using a test means or a simulation means; performing first-order Taylor expansion at the mean value; determining limit state equations, determining a coefficient of a sample covariance matrix according to a 3 sigma criterion; calculating an inverse matrix of the covariance matrix; then, constructing ellipsoid domains, defining an ellipsoid zooming system, sequentially establishing a plurality of ellipsoid domains, converting all information from an ellipsoid space to a standard sphere space, calculating the weight ofeach ellipsoid domain, defining the system response reliability based on the product of the volume ratio and the weight, and calculating the reliability according to an arch volume formula. Accordingto the method, the accuracy measurement of the multi-source uncertain parameters with Gaussian distribution characteristics can be realized under the condition of small samples, and the probability description of the response reliability of the robot system can be realized under a non-probability framework.

Description

technical field [0001] The present invention relates to the technical field of reliability analysis of robot systems, and further relates to the measurement of multi-source uncertain parameters of robot systems under the condition of small samples and the reliability evaluation under the non-probability framework, in particular to a reliable robot system based on the Gaussian multi-ellipsoid model. gender analysis method. Background technique [0002] There are inevitably a large number of uncertain factors in the robot system, and the current design and development of robots are usually based on the deterministic theory, using deterministic parameter values ​​such as the mean value and extreme value of the parameters, ignoring the parameters. Uncertainty, which causes the designed or developed robot to be too sensitive to parameters, even small fluctuations or differences can cause serious accidents or injuries, thus affecting the reliability and safety of the robot. The c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20
Inventor 刘启明韩旭吴兴富佟妮宸郭士杰
Owner HEBEI UNIV OF TECH
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