机构运动学建模的倍四元数法.PDFVIP

第41卷 第11期 北 京 工 业 大 学 学 报 Vol.41 No.11 2015年 11月 JOURNAL OF BEIJING UNIVERSITY OFTECHNOLOGY Nov. 2015 机构运动学建模的倍四元数法 (邀请论文) 廖啟征 (北京邮电大学 自动化学院,北京摇 100876) 摘摇 要:像对偶四元数一样,倍四元数可以用来进行空间机构的运动学建模. 该方法在最近十几年已经有了一些 应用,具有计算速度快、鲁棒性强等特点,适用于某些特定的应用条件. 目前,国际期刊上对其介绍的论文大多推导 过程烦琐,需要不少专业的数学知识. 基于矩阵运算,把齐次坐标变换矩阵分解为旋转和平移2部分,然后分别转 换为哈密顿算符,从而完成了从矩阵到倍四元数的运动学建模,其转换过程是有误差的,但是这种误差是可控的, 并且其乘法的运算次数比齐次坐标变换矩阵方法要少. 最后,用算例对该方法进行了验证,该方法便于一般工程人 员理解. 关键词:齐次坐标;倍四元数;哈密顿算符 中图分类号:TH112 文献标志码:A 文章编号:0254-0037(2015)11-1611-09 doi:10.11936/ bjutxb2015060072 Kinematic Modeling of Mechanisms Using Double Quaternion (Invited Paper) LIAO Qi鄄zheng (Automation School,Beijing University of Posts and Telecommunications,Beijing 100876,China) Abstract:Like dual quaternion, double quaternion can be used in mathematic modeling of spatial mechanisms. The advantages of fast computing and robustnesscan be used in some special applications. So far, international journals have published some papers introducing this method, however, these methods need special mathematic knowledge and are not easy to understand. Based on the matrix method,the homogeneous transformation matrix can be divided into rotation and translation parts,and then the two parts are transformed into Hamilton operator. Double quaternion is then derived. By using the double quaternion,a small errorwill be introduced intotheresults,however,it can be controlledby theprogram. Anotheradvantageisthatitneedslessmultiply computing. Anumericalexampleisgivento verify the method,and this method can be easily understood. Key words:homogen