机器人装配中的几何不确定性建模

在机器人装配中，几何不确定性使装配工件的真实位姿在一定的区域内变化，对几何不确定性建模就是求解物体的几何不确定性区域。将几何不确定性解耦成位置不确定性和 姿态不确定性的组合，对位置不确定性用物体上各点的不确定性球表征，而姿态不确定性用各点的不确定性球表征，并由此求得物体的几何不确定性区域。由于得到的模型较为抽象复杂，在实践应用中，需要进行必要的简化，在此仅对一些近似方法作了简要讨论。

Modeling of Geometrical Uncertainty in Robotic Assembly

In robotic assembly, the actual location of the workpieces and the environment vary in some regions due to geometrical uncertainty. So, modeling of geometrical uncertainty is to determine those uncertainty regions. In this paper, the geometrical uncertainty is decomposed into position uncertainty (PU) and orientation uncertainty (OU). The PU and OU of every point is represented by uncertainty sphere (US) and uncertainty spherical surface (USS) respectively. The geometrical uncertainty region is obtained with the union of the USs and USSs of all the points in one object. Since the geometrical uncertainty region is fairly complex, some approximate methods are discussed to simplify the analysis.