基于熵概念机器人动态误差理论主要评价公式的推导

本文作者在前期工作中提出了基于熵概念机器人动态误差理论的评价指标体系，并分析了SCARA机器人的误差源及其对位姿方程的影响。在此基础上，本文利用概率论中随机变量组函数变换的概率密度的有关定理。推导了动态精度理论的主要评价指标公式。并利用边缘概率密度，条件概率密度和联合密度之间的关系，对指标公式的概率模型做了一定的探讨。

Derivation of main evaluation index formulae of robot dynamic accuracy theory based on entropy concept

During the early research, the evaluation index system of robot dynamic accuracy theory hased on entropy concept has been put forward, at the same time, the error factor of robot and its influence on the pose equation has also been analysed. Based on these work, this paper deduces the main evaluation index formulae of dynamic accuacy theory, by using the theorem of the probability density of random variable group function transform in the probability theory. At the end of the paper, with the help of the relation between brink probability density conditional probability density and associated probability density, the probability model of the index formulae is discussed.