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为不确定空间位移而建立信任区域,具有双重罗德里格斯参数.

Zihan Yu1, Qiaode Jeffrey Ge1, Mark P Langer2

  • 1Computational Design Kinematics Lab, Stony Brook University, SUNY, Stony Brook, New York, 11794-2300.

Proceedings of the ... ASME Design Engineering Technical Conferences. ASME Design Engineering Technical Conferences
|March 31, 2025
PubMed
概括
此摘要是机器生成的。

本研究引入了一种使用双四次子和双罗德里格斯参数的新方法,用于计算动力学信心区域. 这种方法比现有的旋转和转移保证限值 (RTCL) 方法提供了更准确和更紧的扫描量.

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科学领域:

  • 机器人和动力学是机器人技术和动力学.
  • 计算几何学的计算几何学
  • 空间计量学 空间计量学

背景情况:

  • 动力学信心区域对于理解空间位移中的不确定性至关重要.
  • 现有的方法,如旋转和转换保证限值 (RTCL),使用欧勒角和转换参数.
  • 需要更强大,更有效的方法来定义和计算这些区域.

研究的目的:

  • 开发一种新的方法来计算动力学信心区域,使用双四边形代数.
  • 将拟议的双罗德里格斯参数配方与已建立的RTCL方法的有效性进行比较.
  • 为了在横扫体积计算中展示更好的准确性和紧性.

主要方法:

  • 使用双方四边形代数计算平均值和相对空间位移.
  • 采用双罗德里格斯参数从双四次子推导,构建一个6D自信圆体.
  • 定义一个具有六个双罗德里格斯参数的参数空间,以获得6x6共变矩阵和圆形.
  • 应用一个反向运算来从圆点中恢复旋转矩阵和转换向量.

主要成果:

  • 双罗德里格斯公式允许计算一个6D自信圆体.
  • 与RTCL方法的比较表明,拟议的方法产生了更紧和更有效的扫描量.
  • 该方法在处理螺杆位移方面表现出特别高的效率.

结论:

  • 双罗德里格斯公式为计算动力学信心区域提供了一种卓越的方法.
  • 这种方法比传统方法具有优势,特别是在复杂的空间移位方面.
  • 这些发现有助于在机器人和空间分析中更精确地量化不确定性.