马骊溟,徐毅,李泽湘.基于旋量理论的复杂曲面定位算法[J].农业机械学报,2007,38(11):129-132.
.[J].Transactions of the Chinese Society for Agricultural Machinery,2007,38(11):129-132.
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基于旋量理论的复杂曲面定位算法   [下载全文]
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DOI:10.3969/j.issn.1000-1298.[year].[issue].[sequence]
中文关键词:  复杂曲面  定位  旋量理论
基金项目:
马骊溟  徐毅  李泽湘
哈尔滨工业大学
中文摘要:传统的基于欧拉角的定位算法精度和效率都不高,易产生奇异性,而现有的基于旋量理论的定位算法只适用简单曲面。针对这种情况,提出了基于旋量理论的复杂曲面定位算法。首先将复杂曲面分解成多张简单曲面,分别计算测量点到每张曲面的最近点;然后采用边界判定法快速求取最近点,从而提高整个定位算法的效率。实例仿真结果表明,该算法不仅速度快而且精度高。
Key Words:
Abstract: The conventional localization algorithms based on Euler angle are not sufficient in accuracy and efficiency, and singularity often occurs. Furthermore, the present positioning scheme on the basis of screw theory only adapts to simple surfaces. To overcome these shortcomings, a new strategy was proposed to cope with the complex freeform surfaces in this paper from screw theory. Firstly, the complex surfaces were subdivided into pieces of simple patches. The nearest point to each patch from the measured point was found. Then, the nearest point was located using boundary determinant. So efficiency of the localization algorithm was improved. The experimental results indicate that the approach is not only fast but also accurate.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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