A Novel Approach to Algebraic Fitting of a Pencil of Quadrics for Planar 4R Motion Synthesis

被引：28
作者：
Ge, Q. J. [1 ]
Zhao, Ping [1 ]
Purwar, Anurag [1 ]
Li, Xiangyun [1 ]
机构：
[1] SUNY Stony Brook, Dept Mech Engn, Computat Design Kinemat Lab, Stony Brook, NY 11794 USA
来源：
JOURNAL OF COMPUTING AND INFORMATION SCIENCE IN ENGINEERING | 2012年 / 12卷 / 04期
基金：
美国国家科学基金会;
关键词：
Image processing - End effectors;
D O I：
10.1115/1.4007447
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
The use of the image space of planar displacements for planar motion approximation is a well studied subject. While the constraint manifolds associated with planar four-bar linkages are algebraic, geometric (or normal) distances have been used as default metric for nonlinear least squares fitting of these algebraic manifolds. This paper presents a new formulation for the manifold fitting problem using algebraic distance and shows that the problem can be solved by fitting a pencil of quadrics with linear coefficients to a set of image points of a given set of displacements. This linear formulation leads to a simple and fast algorithm for kinematic synthesis in the image space. [DOI: 10.1115/1.4007447]
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页数：7
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