基于TFN-AHP综合评价模型的机器人设计选择  

Overall evaluation for robot selection based on a TFN-AHP model

作　　者：钟小强[1] 董雨[2] 滕伟冰[1] 张秋萍[1] 竺长安[1] 

机构地区：[1]中国科学技术大学精密机械与精密仪器系,合肥230026 [2]中国科学技术大学管理学院,合肥230026

出　　处：《哈尔滨工业大学学报》2009年第9期128-131,共4页Journal of Harbin Institute of Technology

基　　金：中国科学院创新基金资助项目(200417009)

摘　　要：针对机器人设计中的牵涉学科广,交叉范围大,待选方案多的特点,结合传统层次分析法(AHP)和模糊数学理论,提出一种机器人设计方案的选择和评价的新方法.该方法建立三角模糊数判断矩阵,利用AHP的模糊扩展模型计算评价因素的权重系数,并利用三角模糊数评估各方案的单指标等级,通过递阶层次结构综合评价机器人设计方案,获得最终选择结果.仿人步行机器人选择实例证明该模型适合并能够推广.To better perform an overall evaluation on the seletion of robot design, a new method was proposed based on the combination of analytic hierarchy process （AHP） and fuzzy theory. In this method, the factor weights were calculated through the fuzzy extent model of AHP, and the value of single factor was evaluated with trigonometrical fuzzy number. Then the overall evaluation on robot design was conducted with hierarchical structures, and the result of robot design selection was obtained. The feasibility of this method was validated by an example of humanoid-robot selection.

关 键 词：机器人 层次分析法 三角模糊数 评价 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]