三维摄像测量系统在人体上肢运动分析中的应用-机械设计及理论专业论文.docxVIP

摘 摘 要 本论文以巍接线性变换(DLT)改避算法为理论基础构建了基于普 通摄像枕的三维摄像测量分析系统，并根据人体上肢的剐体运动模型提 爨了一种计算上肢关节运动参数的算法，有利于以后进行更深入的研 究。 通过对几种测试系统的比较，并结合实验室现有条件，本论文构建 了一套基于普通摄像机的三维摄像测量分析系统。／在第二章里，对摄像 机针孔及冀畸变模型、直接线性变换(DLT)改进算法、程序设计、定 标性能指标等几方蕊的内容都做了详细介绍；面且，论文中详镪耀述了’ 实验步骤，通过凡个实际算铡验证了系统酶定标精度，并做了误差分析≯ 在麓l体运动参数计算过程中，旋转矩阵的处理是比较麻烦的。本文 利龋单位圈元数的性质提出了计算旋转矩阵的精简变量算法，保证了计 算的稳定性和精确性，并且设计了相关实验来检验算法的精确度。惧体 算法在第三章里将作详细介绍。j 《在第四章中，通过对人体上肢熊剖生理结构的研究，设计了一个七 岛出度的人体上肢强4体运动模型；结合三维摄像测鬟分孝厅系统，提出了 一套通过对标记点静跟踪拍摄来获取上藏关节运动参数的算法，并对具 体上胺动作进行了测量分析。 一 f一 在第五章里，对三维摄像测量分析系统程序的使用做了简单介绍。， 关键词： 直接线性变换改进算法j单位四元数j人体上肢喇菪暂 ABSTRACTAccording ABSTRACT According to the modified Direct Lineal Transtbrmation(DLT)algorithm，this paper presents a three—dimensional camera meaurement analysis system based 0珏 general cameras-Moreover,according to the rigid body model of the human upper-limb，a method of calculating the joint parameters of the human upper-limb is presented，which will provide the help for the further research。 By comparing several kinds of measurement system，a three—dimensional camera,measurement analysis system iS established based on the current conditions of the laboratory，In Chapter 2，the following aspects are introduced in detail：t酝camera’S pin-hole model，its distortion model，modified DLT algorithm， the programming，calibration performance of index and the designing of the experiment．Moreover,several experiments are made to examine the measurement accuracy．Finally,the paper discusses error analysis of this system。 During analyzing the motional parameters of the rigid body,it is difficult to calculate the rotary matrix。According to the unit quatemion’S property,the simplified variable algorithm is put forward in Chapter 3，which assures the accuracy and stabilization of calculating the rotary matrix。And the experimems also prove this。 In Chapter 4，after studying the anatomical and physiological structure of the human upper-limb，a seven degree—of-freedom kinematics model of the human upper—limb is brought forward and all algorithm for ca