Similarity comprehensive evaluation of humanoid robot arm motion

被引：0
|
作者：
Li L. [1 ]
Zhao J. [1 ]
Yan C. [1 ]
Wang C. [1 ]
机构：
[1] College of Mechanical Engineering and Applied Electronics Technology, Beijing University of Technology, Beijing
来源：
High Technology Letters | 2019年 / 25卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Dynamic comprehensive evaluation method; Humanoid robot arm motion; Projection pursuit evaluation method; Relative efficiency; Similarity comprehensive evaluation;
D O I：
10.3772/j.issn.1006-6748.2019.01.012
中图分类号：
学科分类号：
摘要：
A suitable comprehensive evaluation method for similarity comprehensive evaluation of humanoid motion (mainly to robotic arm) is proposed. For different robotic arms, a static comprehensive evaluation model is established by projection pursuit evaluation based on indexes of humanoid robot arm motion in robotics and ergonomics field. Based on projection pursuit evaluation with timing information entropy and time degrees, a dynamic comprehensive evaluation method is proposed by linear weighting to each time's static model's indexes weight according to timing weighted vectors. Through comparing similarity comprehensive evaluation result based on static and dynamic comprehensive evaluation model, the results show that similarity based on dynamic comprehensive evaluation model is high. By comparing reliability, similarity and dispersion of static and dynamic comprehensive evaluation models, the results show that dynamic comprehensive evaluation result has better accuracy, stability and lower dispersion, and the result is more reasonable and real. Therefore, the dynamic comprehensive evaluation method proposed in this paper is more suitable for similarity comprehensive evaluation of humanoid robot arm motion. Copyright © by HIGH TECHNOLOGY LETTERS PRESS.
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页码：88 / 96
页数：8
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