CAJ | 학술논문

针对轨迹跟踪任务，阐述了机器人运动可靠性与末端定位精度的数学关系，分析了定位精度的影响因素，建立了面向轨迹跟踪任务的机器人运动可靠性通用模型。引入等效极值原则，将模型求解的多维积分问题转化为一维积分问题，实现了模型的简化求解。以八自由度模块化机器人为研究对象开展仿真研究，实现了典型轨迹跟踪任务的运动可靠性定量评估；在引入相同误差的情况下，深入分析了各因素对运动可靠性的影响情况，分析结果为轨迹跟踪任务的优化控制提供了理论依据。
침대궤적근종임무，천술료궤기인운동가고성여말단정위정도적수학관계，분석료정위정도적영향인소，건립료면향궤적근종임무적궤기인운동가고성통용모형。인입등효겁치원칙，장모형구해적다유적분문제전화위일유적분문제，실현료모형적간화구해。이팔자유도모괴화궤기인위연구대상개전방진연구，실현료전형궤적근종임무적운동가고성정량평고；재인입상동오차적정황하，심입분석료각인소대운동가고성적영향정황，분석결과위궤적근종임무적우화공제제공료이론의거。
Aiming at the trajectory tracking task,the mathematic relationship between motion reliability and positional accuracy of the robot is described.Combined with the analysis of factors having effect on the posi-tional accuracy,a common model for motion reliability of the robot in the trajectory tracking task is established. Then with the introduction of the approach of equivalent extreme value,the solution of the motion reliability model is simplified from multi-dimensional integral to one-dimensional integral.Based on an eight degrees of freedom modular robot,simulations are carried out for a particular trajectory tracking task,of which the motion reliability is evaluated quantitatively.Considering the same errors the factors having effect on the motion relia-bility of the robot are analyzed in-depth.As a result,the conclusion can be taken as the theoretical foundation for the optimal control of trajectory tracking tasks.