齊次坐標系 的英文怎麼說
中文拼音 [qícìzuòbiāoxì]
齊次坐標系
英文
homogeneous coordinate system-
( 2 ) link coordinates of the manipulator were set up by denavit - hartenberg method. simultaneously, forward kinematics and inverse kinematics was modeled through homogeneous transformation and jacobian matrix was reached as well, which provided the basis for kinematics analysis, simulation and performance optimization
（ 2 ）採用denavit - hartenberg方法設定了番茄收獲機械手桿件坐標系，通過齊次變換建立了正運動學與逆運動學模型，獲得了番茄收獲機械手雅可比矩陣，為機械手運動學分析、模擬與性能優化奠定了理論基礎。Several steps of the work have been done to achieve the system. first is to analysis the camera model and imaging transformation by homogeneous reference frame
作者在實現該系統中，首先分析攝像機的成像模型以及如何在齊次坐標下用線性矩陣分析物體的成像變換問題。Firstly, the paper introduces the development and application of computer graphics & image technique, discusses the principle and method of cg and digital image processing, such as matrix of the graphic transformation, homogeneous reference frame, sampling and quantization of the image, file format of the image, template operation, etc. secondly the paper introduces the purpose and method of image enhancement processing, explains the each occasion of those methods such as threshold transformation, smoothing processing, sharpening processing, analyzes and contrasts the processing results of object image. thirdly, the paper introduces the method of mathematics morphologic, edge detection and thinning processing, attains character description of image and character dots of the contour. fourthly, the paper processes the coordinate transformation to character dots and basic splines fitting, imports correlative condition to devise meshing line and meshing track
本文首先介紹了計算機圖形圖像技術的發展與應用情況，對計算機圖形學和數字圖像處理的一些基本理論和方法如圖形變換矩陣、齊次坐標系、圖像采樣和量化、圖像文件格式、模板操作等內容進行了討論：然後對圖像增強處理的目的和方法進行了介紹，對諸如閥值變換、平滑處理、銳化處理等方法的應用場合進行了說明，並對實物圖像的處理結果進行了分析與比較；接下來介紹了數學形態學方法、對增強后的圖像進行邊緣檢測的方法和圖像的特徵描述方法，並獲取輪廓的特徵點：隨后對獲取的特徵點進行坐標變換，並進行b樣條曲線擬合，引入相關條件生成齒輪副的嚙合線及嚙合軌跡：最後引入等值線和區域填充表示方法，並以等值線和區域填充的形式對弧齒錐齒輪嚙合模擬的載荷分佈情況進行了直觀的表示。Kinematic analysis : by denavit - hartenberg method, space geometry relationship of each pole relative to fixed reference frame can be described with equal index transform, also do space relationship of two adjacent poles with 4x4 equal index. so equivalent equal index transform matrix can be deduced from them. when sportive equations and sportive coordinate frame of workpiece exercise point are set up, the coordinate values of exercise point can be got, the pose and situation of two manipulators are analysed, in the end each joint valiable and its velocity, acceleration are worked o ut
運動學分析：利用denavit ? hartenberg法，用齊次變換描述各個桿件相對于固定參考系的空間幾何關系，用一4 4的齊次變換矩陣描述機鄰兩桿的空間關系，從而推導出等價齊次變換矩陣，建立兩機械手運動方程，確定工件作業點隨動坐標系，求出作業點坐標，對兩機械手的位姿進行解析，求出兩機械手的各關節變量及其速度、加速度值。分享友人