Comprehensive evaluation of robotic global performance based on modified principal component analysis

摘要

The multivariate statistical method such as principal component analysis based on linear dimension reduction and kernel principal component analysis based on nonlinear dimension reduction as the modified principal component analysis method are commonly used. Because of the diversity and correlation of robotic global performance indexes, the two multivariate statistical methods principal component analysis and kernel principal component analysis methods can be used, respectively, to comprehensively evaluate the global performance of PUMA560 robot with different dimensions. When using the kernel principal component analysis method, the kernel function and parameters directly have an effect on the result of comprehensive performance evaluation. Because kernel principal component analysis with polynomial kernel function is time-consuming and inefficient, a new kernel function based on similarity degree is proposed for the big sample data. The new kernel function is proved according to Mercer’s theorem. By comparing different dimension reduction effects of principal component analysis method, the kernel principal component analysis method with polynomial kernel function, and the kernel principal component analysis method with the new kernel function, the kernel principal component analysis method with the new kernel function could deal more effectively with the nonlinear relationship among indexes, and its calculation result is more reasonable for containing more comprehensive information. The simulation shows that the kernel principal component analysis method with the new kernel function has the advantage of low time consuming, good real-time performance, and good ability of generalization.