Multi-robot cooperation system reliability calculation method based on boundary estimation

The invention relates to a motion reliability calculation method of a multi-robot cooperative system. The invention aims to provide a multi-industrial-robot reliability calculation method based on boundary estimation so as to solve the problem of motion reliability analysis of a multi-robot cooperative system and ensure that robots can operate in a cooperative manner accurately, stably and reliably in practical application. According to the technical scheme, joint gaps, connecting rod length deviation and connecting rod offset distance deviation are regarded as variables of normal distribution, a performance function of the robot is established through forward kinematics of the robot by means of a probability distribution model of the variables, first-order expansion is conducted on the performance function at the mean value point of the variables on the basis of Taylor series, and the performance function is obtained. And respectively calculating the mean value and the standard deviation of the robot perform