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。
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.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2000年第1期45-49,共5页
Journal of Mechanical Engineering
关键词
工件定位
包容算法
欧氏转换
欧氏群
李代数
Workpiece localization Envelopment algorithmEuclidean transformation Euclidean groupLie group Lie algebra
