Evaluation and prediction method of robot pose repeatability based on statistical distance
Mechanism and Machine Theory(2023)
摘要
•Pose repeatability evaluation method based on statistical distance is proposed.•A kinematic equivalent system is proposed to describe the robot's pose repeatability.•A general approach for pose repeatability prediction in the whole workspace is proposed.•Two indices are proposed to evaluate the prediction accuracy of the pose repeatability.•Simulation and experiment are carried out to illustrate the effectiveness of the proposed approach.
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关键词
Pose repeatability,Evaluation and prediction,Statistical distance,Equivalent system
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