Robot control software module partitioning method

A technology for controlling software and robots, which is applied in the field of robotics and can solve the problems of lack of quantitative evaluation model and difficulty in obtaining division results.

CN103235877AInactive Publication Date: 2013-08-07BEIJING UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2013-08-07
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention belongs to the field of robots and discloses a robot control software module partitioning method. First, a system is partitioned according to minimum functions to obtain an element sample set of minimum function particles. Then, relevance analysis is conducted on sample set elements from the perspectives of functions and structures, and elements with certain relevance are merged and clustered through a fuzzy tree graph clustering method. A partitioning scheme of subtrees on different levels is obtained by selecting different thresholds. Finally, a module partitioning scheme is evaluated comprehensively according to an information entropy idea, and optimal partitioning results are selected. By combining fuzzy clustering and level analysis, relevance among system elements is quantized, effects of human factors in module partitioning are reduced, and difficulty of a modularity process of robot control software is reduced. A mathematical evaluation model is provided through the information entropy idea, a reasonable and effective solving scheme for a robot software system module partitioning particle problem is provided, a developing period of module partitioning is shortened, and system developing cost is reduced.
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Description

technical field

[0001] The invention belongs to the field of robots, and specifically relates to robot control software modularization technology, in particular to a robot control software module division method combining fuzzy clustering and analytic hierarchy process, and a robot software modular system evaluation method based on information entropy. Background technique

[0002] In recent years, with the continuous development of the field of robot research, robot modular control technology has gradually become a research hotspot. The module division method is the key to this technology. How to reasonably and effectively divide the robot software control system has become an urgent problem to be solved in robot modular research. .

[0003] A literature search of the prior art revealed a variety of modular robotic systems. For example, U.S. Patent No. 5,523,662 discloses a modular, expandable, and reconfigurable robot system, which includes at least two manipulator module...

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Embodiment Construction

[0107]The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0108] The flow chart of the method involved in the present invention is as attached figure 1 shown, including the following steps:

[0109] Step 1: Divide the robot control software according to the smallest function to obtain the element sample set with the smallest functional granularity.

[0110] Step 2: Carry out correlation analysis on the minimum granularity element sample set of software from the perspective of function and structure.

[0111] Functional independence is an important characteristic of a module. When dividing robot control software modules, those elements that achieve the same function are gathered together to form a module, and the functions are kept independent to avoid the phenomenon of functional coupling, which helps to improve the module. Functional independence and system stability. The functional correlation eva...