Proceedings of MSR-RoManSy 2024 : combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics. MSR-RoManSy (Symposium) (2024 : Saint Petersburg, Fla.)最新文献
Pub Date : 2024-01-01Epub Date: 2024-05-29DOI: 10.1007/978-3-031-60618-2_18
Q Jeffrey Ge, Zihan Yu, Anurag Purwar, Mark P Langer
A spatial displacement as an element of can be approximated by a 4D rotation, which is an element of . In this way, the problem of constructing confidence regions of uncertain spatial displacements may be studied as that of constructing confidence ellipsoids in . In this light, a double-quaternion formulation of kinematic confidence regions is presented that approximately preserve the geometry of . Examples are provided to demonstrate the efficacy of this approach in comparison with the dual-quaternion formulation.
作为 SE ( 3 ) 元素的空间位移可以用作为 SO ( 4 ) 元素的 4D 旋转来近似。这样，构建不确定空间位移置信区域的问题就可以作为构建 SO ( 4 ) 中置信椭球的问题来研究。有鉴于此，我们提出了近似保留 SE ( 3 ) 几何结构的运动学置信区域的双四元数公式。我们提供了一些例子来证明这种方法与双四元数公式相比的有效性。
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Proceedings of MSR-RoManSy 2024 : combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics. MSR-RoManSy (Symposium) (2024 : Saint Petersburg, Fla.)
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