计算机辅助定位算法的性能分析-控制理论与控制工程专业论文.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. Firstly, the general 3-dimentsional localization problem as a least squares problem on the Euclidean group is stated. The mathematic background of rigid motion is reviewd. Secondly, the two general workpiece localizaiton algorithm are described. A detailed understanding of the Hong-Tan algorithm is analyzed and the difference between the Euclidean transformation and the tangent transformation is compared. Thirdly,The two symmetry workpiece localization algorithms : the FSL ( Fast symmetry localization) algortihm and the TSL (tangent symmetry localization) algorithm are proposed. And some examples are given. Lastly, some models are constructed and used in simulation expriment. A CAS(computer- aided-setup) system is set up that include the Adept Robot system and touching probe system and the actural experiment is done on it. The experimantal result validate the developed localization algorihtms and the Hong-Tan algorithm is the best wokpiece localizaiton algorithm. Keywords workpiece localization, CAS, Hong-Tan algorithm, FSL, TSL II II 摘 要 工件定位指的是一个被任意固定在工作台上的工件，需要确定其相对于某个已 知参考坐标系的位置和方向。 首先，提出了广义三维定位问题作为一个欧几里德群上的最小二差乘问题。在 本论文中回顾了刚体运动的数学背景。 然后,描述了两种广义工件定位算法。分析并给出了对于 Hong-Tan 算法的详细 理解，而且比较了欧几里德变换和切变换。 接下来，提出了两种对称工件定位算法：快速对称定位算法和切对称定位算 法。同时给出了一些用于对称工件定位的例子。 最后，构造了一些用于仿真实验中的模型。搭建了一种计算机辅助系统，其由 Adept 机器人系统和 Renishaw 接触式侧头系统构成。并在这个系统上作了实际实 验。实验结果验证了在已有的定位算法中 Hong-Tan 算法是最好的定位算法。 关键字 工件定位，计算机辅助系统，Hong-tan 算法，快速对称定位，切对称定位 PAGE PAGE IV ACKNOWLEDGEMENTS That is a fact that nothing can be finished only by a person in the world. It is difficult to mention all the people who give my help during my master study. Above all, I would like to express my appreciation and admiration to my supervisor, Prof. Zexiang Li, for his guidance,