| 工件自动混合定位包容问题的研究 |
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| 引用本文： | 储云仙 苟剑波 吴洪 李泽湘. 工件自动混合定位包容问题的研究[J]. 机械工程学报, 2000, 36(1): 45-49 |
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| 作者姓名： | 储云仙 苟剑波 吴洪 李泽湘 |
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| 作者单位： | 香港科技大学电机及电子工程系 |
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| 摘 要： | 基于微分几何中李群、李代数、齐次空间等理论对混合自动定位包容问题进行了形式化描述，并利用齐次空间的几何特性，使复杂的混合定位问题分解成对称工件定位和包容两个独立的问题。介绍了解混合定位包容问题的算法。仿真试验结果表明该算法速度快、精度高和鲁棒性好。
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| 关 键 词： | 工件定位 包容算法 欧氏转换 欧氏群 李群 李代数 |
ON THE HYBRID LOCALIZATION ENVELOPMENT PROBLEM |
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| Chu Yunxian Gou Jianbo Wu Hong LiZexiang. ON THE HYBRID LOCALIZATION ENVELOPMENT PROBLEM[J]. Chinese Journal of Mechanical Engineering, 2000, 36(1): 45-49 |
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| Authors: | Chu Yunxian Gou Jianbo Wu Hong LiZexiang |
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| Affiliation: | Chu Yunxian Gou Jianbo Wu Hong LiZexiang;(Hong Kong University of Science and Technology) |
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| Abstract: | A formulation of the hybrid localization envelopmentproblem is given by using be group, Lie Algebra and homogenousspace in differential geomeny theory. Based on the geometricproperties of homogeneous space, the hybrid problem is decomposedinto a (symmetric ) localizahon problem and an envelopmentproblem. An effective hybrid algorithm is proposed to solve thepmblems. Simulahon results show that the proposed algorithm isrobust, computaloed efficiency and high accuracy. |
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| Keywords: | Workpiece localization Envelopment algorithmEuclidean transformation Euclidean groupLie group Lie algebra |
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