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Updated: Sep 13, 2025

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Operation of the Collaborative Composite Manufacturing CCM System
Published on: October 1, 2019
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时间最佳的螺旋轨迹与封闭式解决方案.
1Mark Draelos is with the Departments of Robotics and Ophthalmology, University of Michigan, MI, USA.
概括
这项研究引入了恒定线性速度 (CLV) 螺旋的时间最佳缩放,显著减少了轨迹跟踪错误和图像扭曲,在医疗成像和机器人探索等应用中.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 医疗成像医学成像
- 计算几何学的计算几何学
背景情况:
- 阿基米德螺旋是一个空间填充曲线,用于路径规划和扫描生成.
- 恒定线性速度 (CLV) 参数化提供固定的路径速度和同otropic 采样.
- 在CLV螺旋的起源附近的高加速度会导致轨迹跟踪问题.
研究的目的:
- 为CLV螺旋推导一个最佳时间缩放,以解决奇点诱导的跟踪错误.
- 为了提高CLV螺旋的实用性,在需要精确轨迹跟踪的应用中.
主要方法:
- 对CLV螺旋进行封闭形式的时间-最佳时间缩放的推导.
- 分析CLV螺旋的加速外,以减轻起源奇点.
- 在两度自由度的笛卡尔扫描仪上应用和评估时间缩放.
主要成果:
- 与原始的CLV螺旋相比,轨迹跟踪误差减少了高达97.1%.
- 证明了拟议的时间缩放方法的低计算开销.
- 在扫描应用中消除在源头附近的中央图像扭曲.
结论:
- 导出的时间-最佳时间缩放有效地减轻了CLV螺旋奇点问题.
- 这种方法增强了CLV螺旋在机器人和医学成像中的实际应用.
- 该方法在精度和图像质量方面提供了显著的改进,计算成本最小.
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