Because of its characteristics of simple algorithm and hardware, optical flow-based motion estimation has become a hot research field, especially in GPS-denied environment. Optical flow could be used to obtain the air...Because of its characteristics of simple algorithm and hardware, optical flow-based motion estimation has become a hot research field, especially in GPS-denied environment. Optical flow could be used to obtain the aircraft motion information, but the six-(degree of freedom)(6-DOF) motion still couldn't be accurately estimated by existing methods. The purpose of this work is to provide a motion estimation method based on optical flow from forward and down looking cameras, which doesn't rely on the assumption of level flight. First, the distribution and decoupling method of optical flow from forward camera are utilized to get attitude. Then, the resulted angular velocities are utilized to obtain the translational optical flow of the down camera, which can eliminate the influence of rotational motion on velocity estimation. Besides, the translational motion estimation equation is simplified by establishing the relation between the depths of feature points and the aircraft altitude. Finally, simulation results show that the method presented is accurate and robust.展开更多
针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对...针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。展开更多
A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed...A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.展开更多
To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is pro...To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is proposed in this paper for structure synthesis of a 6-DOF spatial compliant mechanism.By using the differential approximation method,the Jacobian matrix of the Stewart prototype platform is calculated as the isomorphic mapping matrix,and its eigenvalues and eigenvectors are considered.Combining the isomorphic mapping matrix with the solid isotropic material with the penalization topology optimization method,the topological model of the 6-DOF spatial compliant mechanism is constructed,and a topological structure of the 6-DOF spatial compliant mechanism is derived which has the same differential kinematic characteristics as the Gough-Stewart prototype platform.Piezoelectric actuators are mounted inside the topological structure during the three-dimensional printing manufacturing process,and its driver directions are in accordance with the driver configuration directions of the Gough-Stewart prototype platform.The effectiveness of the proposed method for topological structure synthesis of the 6-DOF spatial compliant mechanism is demonstrated through several numerical examples and experimental studies.展开更多
基金Project(2012CB720003)supported by the National Basic Research Program of ChinaProjects(61320106010,61127007,61121003,61573019)supported by the National Natural Science Foundation of ChinaProject(2013DFE13040)supported by the Special Program for International Science and Technology Cooperation from Ministry of Science and Technology of China
文摘Because of its characteristics of simple algorithm and hardware, optical flow-based motion estimation has become a hot research field, especially in GPS-denied environment. Optical flow could be used to obtain the aircraft motion information, but the six-(degree of freedom)(6-DOF) motion still couldn't be accurately estimated by existing methods. The purpose of this work is to provide a motion estimation method based on optical flow from forward and down looking cameras, which doesn't rely on the assumption of level flight. First, the distribution and decoupling method of optical flow from forward camera are utilized to get attitude. Then, the resulted angular velocities are utilized to obtain the translational optical flow of the down camera, which can eliminate the influence of rotational motion on velocity estimation. Besides, the translational motion estimation equation is simplified by establishing the relation between the depths of feature points and the aircraft altitude. Finally, simulation results show that the method presented is accurate and robust.
文摘针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。
基金National Natural Science Foundation of China (No.50275040)
文摘A new motion model and estimation algorithm is proposed to compute the general rigid motion object＇s 6-DOF motion parameters and center of rotation based on stereo vision. The object＇s 6-DOF motion model is designed from the rigid object＇s motion character under the two defined reference frames. According to the rigid object＇s motion model and motion dynamics knowledge, the corresponding motion algorithm to compute the 6-DOF motion parameters is worked out. By the rigid object pure rotation motion model and space sphere geometry knowledge, the center of rotation may be calculated after eliminating the translation motion out of the 6-DOF motion. The motion equations are educed based on the motion model and the closed-form solutions are figured out. To heighten the motion estimation algorithm＇s robust, RANSAC algorithm is applied to delete the outliers. Simulation and real experiments are conducted and the experiment results are analyzed. The results prove the motion model＇s correction and algorithm＇s validity.
基金This research was supported by the National Natural Science Foundation of China(Grant 51165009)the Innovation School Project of Education Department of Guangdong Province,China(Grant 2017KZDXM060).
文摘To improve the global stiffness and conveniently build a model of a compliant mechanism with spatial multiple degrees of freedom(DOF),the topology optimization method,combined with the isomorphic mapping matrix,is proposed in this paper for structure synthesis of a 6-DOF spatial compliant mechanism.By using the differential approximation method,the Jacobian matrix of the Stewart prototype platform is calculated as the isomorphic mapping matrix,and its eigenvalues and eigenvectors are considered.Combining the isomorphic mapping matrix with the solid isotropic material with the penalization topology optimization method,the topological model of the 6-DOF spatial compliant mechanism is constructed,and a topological structure of the 6-DOF spatial compliant mechanism is derived which has the same differential kinematic characteristics as the Gough-Stewart prototype platform.Piezoelectric actuators are mounted inside the topological structure during the three-dimensional printing manufacturing process,and its driver directions are in accordance with the driver configuration directions of the Gough-Stewart prototype platform.The effectiveness of the proposed method for topological structure synthesis of the 6-DOF spatial compliant mechanism is demonstrated through several numerical examples and experimental studies.
