关于空间位移的平均值和变量的计算
Qiaode Jeffrey Ge1, Zihan Yu1, Mona Arbab2
1Department of Mechanical Engineering, Stony Brook University, SUNY, Stony Brook, NY 11794-2300.
概括
本研究比较了使用欧勒角,单元四次元和双四次元的空间位移平均方法. 双四次元提供了一个强大的方法,避免了单元四次元符号变化的问题,以便准确的平均位移计算.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 计算机图形 计算机图形
- 空间计算 空间计算
背景情况:
- 计算平均空间位移在各个领域至关重要.
- 使用欧勒角和单位四次数的现有方法有局限性.
- 双四边形为表示空间转换提供了一个有前途的替代方案.
研究的目的:
- 研究和比较计算平均空间位移的方法.
- 为了解决现有的参数表示的局限性,如欧勒角和单位四次数.
- 引入和验证一种使用双四周的新方法.
主要方法:
- 三个参数表示的比较:欧勒角,单元四次元和双四次元.
- 在单元四次元空间中分析欧几里德规范及其局限性.
- 介绍了一种基于双四次子的新动力学测量方法.
- 使用双四次数,制定一个受约束的最小平方最小化问题.
主要成果:
- 单元四次数方法简化了对组件的平均值,但对符号变化敏感.
- 对于双四次子的新动力学测量使得对方差的定义成为可能.
- 双四边形方法分解为翻译和旋转的独立优化.
- 最优的转换是中间体,最优的旋转是从一个固有值问题中得出的.
- 旋转和转移之间的权重因子不会影响最终结果.
结论:
- 双四次子为计算平均空间位移提供了强大而准确的方法.
- 拟议的双四边形方法克服了单元四边形表示的局限性.
- 该研究提供了不同空间位移平均化技术的全面比较和验证.
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