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]

引用

页数：7