定位算法的性能分析和计算机辅助安装系统-控制科学与工程专业论文.docxVIP

I I ABSTRACT Workpiece localization refers to the following problem: assuming a rigid workpiece is arbitrarily fixtured to a work table，determine the position and orientation of the workpiece frame relative to some known reference frame. In this dissertation, the performance of four localization algorithms is firstly analyzed and compared, base on the following criteria: (a) robustnesswith respect of variations in initial conditions; (b) accuracy of computed results; and (c) computational efficiency. Then we foucus on the development of a computer_aided setup system. A computer-aided setup systems, on the basis of an open architecturen CNC machine, are built and tested. The contributions of the dissertation are as follow: Firstly, The mathematic background of rigid motion is reviewd. the general 3- dimentsional localization problem as a least squares problem(LSP) on the Euclidean group SE(3) and the two general workpiece localizaiton algorithms are described. Secondly, we present configuration space of sysmmetry feature and the two symmetry workpiece localization algorithms, the FSL ( Fast symmetry localization) algortihm and the TSL (tangent symmetry localization) algorithm. Thirdly, the performance of the localization algorithms are evaluated through simulation experiments. Based on the simulation results, the conclusion is obtained. Then we develop an approach for improving the robustness of algorithms for symmetry workpiece. Finally, thecomputer aided setup system(CAS) were built on the basis of the open architechture CNC system. The integrated systems consisted of two main modules: touching probe system for data collection and localizaion algorithms. the actural experiment is done on it, the experimantal result showed that the system is suitable for real-time implementation in manufacturing process. Keywords workpiece localization, Hong-Tan algorithm, FSL, TSL,objective function II II 摘 要 工件定位指的是工件被任意固定在工作台上，确定其相对于已知参考坐标系的 位置和方向。在这篇论文，首先基于如下标准：(a) 关于初始条件变化的鲁棒性，