In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint...In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.展开更多
Point pattern matching (PPM) is an important topic in computer vision and pattern recog-nition . It can be widely used in many areas such as image registration, object recognition, motion de-tection, target tracking, ...Point pattern matching (PPM) is an important topic in computer vision and pattern recog-nition . It can be widely used in many areas such as image registration, object recognition, motion de-tection, target tracking, autonomous navigation, and pose estimation. This paper discusses the in-complete matching problem of two point sets under Euclidean transformation. According to geometric reasoning, some definitions for matching clique, support point pair, support index set, and support in-dex matrix, etc. are given. Based on the properties and theorems of them, a novel reasoning algo-rithm is presented, which searches for the optimal solution from top to bottom and could find out as many consistent corresponding point pairs as possible. Theoretical analysis and experimental results show that the new algorithm is very effective, and could be, under some conditions, applied to the PPM problem under other kind of transformations.展开更多
文摘In order to realize the small error attitude transformation of a free floating space robot,a new method of three degrees of freedom（ DOF） attitude transformation was proposed for the space robot using a bionic joint. A general kinematic model of the space robot was established based on the law of linear and angular momentum conservation. A combinational joint model was established combined with bionic joint and closed motion. The attitude transformation of planar,two DOF and three DOF is analyzed and simulated by the model,and it is verified that the feasibility of attitude transformation in three DOF space. Finally,the specific scheme of disturbance elimination in attitude transformation is presented and simulation results are obtained.Therefore,the range of application field of the bionic joint model has been expanded.
基金This work was supported by "985" Project of Tsinghua University.
文摘Point pattern matching (PPM) is an important topic in computer vision and pattern recog-nition . It can be widely used in many areas such as image registration, object recognition, motion de-tection, target tracking, autonomous navigation, and pose estimation. This paper discusses the in-complete matching problem of two point sets under Euclidean transformation. According to geometric reasoning, some definitions for matching clique, support point pair, support index set, and support in-dex matrix, etc. are given. Based on the properties and theorems of them, a novel reasoning algo-rithm is presented, which searches for the optimal solution from top to bottom and could find out as many consistent corresponding point pairs as possible. Theoretical analysis and experimental results show that the new algorithm is very effective, and could be, under some conditions, applied to the PPM problem under other kind of transformations.
