Automatic 6-D.O.F. Kinematic Trajectory Acquisition and Analysis

1989 ◽  
Vol 111 (1) ◽  
pp. 31-39 ◽  
Author(s):  
E. K. Antonsson ◽  
R. W. Mann
Keyword(s):  
Coordinate System ◽  
Detailed Analysis ◽  
Camera Calibration ◽  
System Approach ◽  
Three Dimensional ◽  
Spatial Accuracy ◽  
Independent Verification ◽  
Position And Orientation

An optoelectronic photogrammetric system to measure the spatial kinematic histories of linkages is presented. A Body Coordinate System approach produces both three-dimensional position and orientation trajectories with no singularities for any rotation. Bandwidth is in excess of 300 Hz for each of 10 link elements. A detailed analysis and measurement of the intrinsic camera calibration corrections has been performed using 12,000 calibration points per camera. An independent verification of spatial accuracy has been performed.

scholarly journals Calibration of the Relative Orientation between Multiple Depth Cameras Based on a Three-Dimensional Target

Sensors ◽  
2019 ◽  
Vol 19 (13) ◽  
pp. 3008 ◽  
Author(s):  
Zhe Liu ◽  
Zhaozong Meng ◽  
Nan Gao ◽  
Zonghua Zhang
Keyword(s):  
Coordinate System ◽  
Camera Calibration ◽  
Three Dimensional ◽  
Field Of View ◽  
Depth Information ◽  
Depth Camera ◽  
Depth Cameras ◽  
Calibration Methods ◽  
3D Shape Reconstruction ◽  
Single Coordinate

Depth cameras play a vital role in three-dimensional (3D) shape reconstruction, machine vision, augmented/virtual reality and other visual information-related fields. However, a single depth camera cannot obtain complete information about an object by itself due to the limitation of the camera’s field of view. Multiple depth cameras can solve this problem by acquiring depth information from different viewpoints. In order to do so, they need to be calibrated to be able to accurately obtain the complete 3D information. However, traditional chessboard-based planar targets are not well suited for calibrating the relative orientations between multiple depth cameras, because the coordinates of different depth cameras need to be unified into a single coordinate system, and the multiple camera systems with a specific angle have a very small overlapping field of view. In this paper, we propose a 3D target-based multiple depth camera calibration method. Each plane of the 3D target is used to calibrate an independent depth camera. All planes of the 3D target are unified into a single coordinate system, which means the feature points on the calibration plane are also in one unified coordinate system. Using this 3D target, multiple depth cameras can be calibrated simultaneously. In this paper, a method of precise calibration using lidar is proposed. This method is not only applicable to the 3D target designed for the purposes of this paper, but it can also be applied to all 3D calibration objects consisting of planar chessboards. This method can significantly reduce the calibration error compared with traditional camera calibration methods. In addition, in order to reduce the influence of the infrared transmitter of the depth camera and improve its calibration accuracy, the calibration process of the depth camera is optimized. A series of calibration experiments were carried out, and the experimental results demonstrated the reliability and effectiveness of the proposed method.

Three-Dimensional Beam Element Based on a Cross-Sectional Coordinate System Approach

2006 ◽  
Vol 43 (4) ◽  
pp. 311-327 ◽  
Author(s):  
Kari E. Dufva ◽  
Jussi T. Sopanen ◽  
Aki M. Mikkola
Keyword(s):  
Coordinate System ◽  
System Approach ◽  
Three Dimensional ◽  
Beam Element ◽  
Cross Sectional

Description of Rotor's Position of Magnetic Suspension Spherical Reluctance Motor and Detection Research

2012 ◽  
Vol 184-185 ◽  
pp. 114-120
Author(s):  
Zheng Jie Xu ◽  
Li Zeng ◽  
Fang Chen
Keyword(s):  
Coordinate System ◽  
Angular Displacement ◽  
Three Dimensional ◽  
Spherical Geometry ◽  
Displacement Transducer ◽  
Magnetic Suspension ◽  
Displacement Sensors ◽  
Reluctance Motor ◽  
Position And Orientation ◽  
Three Dimensional Coordinate

Detecting rotor position is an important part of work of magnetic suspension spherical reluctance motor． It contains rotor's position and orientation detection． This paper creates three-dimensional coordinate system on spherical reluctance motor， derives the description of the rotor's position and orientation and proposes a method for calculating rotor's position based on radial displacement sensors and angular displacement transducer． It also uses this approach and the spherical geometry relation to calculate orientation matrix of rotor according to the data from the sensors， so we can work out the position of any point through the rotation of coordinate system and position transformation．

Comparison Considerations Toward Investigating the Factors of Load and Age Group on the Maximum Reach Envelope

2020 ◽  
pp. 001872082096501
Author(s):  
Heather Johnston ◽  
Colleen Dewis ◽  
John Kozey
Keyword(s):  
Coordinate System ◽  
Three Dimensional ◽  
Spherical Coordinate System ◽  
Upper Body ◽  
Group Differences ◽  
Anthropometric Measures ◽  
Younger Adults ◽  
Present Measurement ◽  
Spherical Coordinate ◽  
Cylindrical Coordinate

Objective The objectives were to compare cylindrical and spherical coordinate representations of the maximum reach envelope (MRE) and apply these to a comparison of age and load on the MRE. Background The MRE is a useful measurement in the design of workstations and quantifying functional capability of the upper body. As a dynamic measure, there are human factors that impact the size, shape, and boundaries of the MRE. Method Three-dimensional reach measures were recorded using a computerized potentiometric system for anthropometric measures (CPSAM) on two adult groups (aged 18–25 years and 35–70 years). Reach trials were performed holding .0, .5, and 1 kg. Results Three-dimensional Cartesian coordinates were transformed into cylindrical ( r, θ , Z) and spherical ( r, θ, ϕ) coordinates. Median reach distance vectors were calculated for 54 panels within the MRE as created by incremented banding of the respective coordinate systems. Reach distance and reach area were compared between the two groups and the loaded conditions using a spherical coordinate system. Both younger adults and unloaded condition produced greater reach distances and reach areas. Conclusions Where a cylindrical coordinate system may reflect absolute reference for design, a normalized spherical coordinate system may better reflect functional range of motion and better compare individual and group differences. Age and load are both factors that impact the MRE. Application These findings present measurement considerations for use in human reach investigation and design.

On the Flexural-Torsional Behavior of a Straight Elastic Beam Subject to Terminal Moments

1993 ◽  
Vol 60 (2) ◽  
pp. 498-505 ◽  
Author(s):  
Z. Tan ◽  
J. A. Witz
Keyword(s):  
Coordinate System ◽  
Cross Section ◽  
Equilibrium Equation ◽  
Three Dimensional ◽  
Circular Cross Section ◽  
Elastic Beam ◽  
Cartesian Coordinate System ◽  
Kinematic Constraints ◽  
Torsional Behavior ◽  
Cartesian Coordinate

This paper discusses the large-displacement flexural-torsional behavior of a straight elastic beam with uniform circular cross-section subject to arbitrary terminal bending and twisting moments. The beam is assumed to be free from any kinematic constraints at both ends. The equilibrium equation is solved analytically with the full expression for curvature to obtain the deformed configuration in a three-dimensional Cartesian coordinate system. The results show the influence of the terminal moments on the beam’s deflected configuration.

Parameterization of Three-Dimensional Rigid Body Guidance Incorporating Planar Gear Connections in a Spatial Closed-Loop Mechanism With Parallel Consecutive Axes

2008 ◽  
Author(s):  
Javier Rolda´n Mckinley ◽  
Carl Crane ◽  
David B. Dooner
Keyword(s):  
Computer Animation ◽  
Closed Loop ◽  
Three Dimensional ◽  
Motion Generation ◽  
Repetitive Motion ◽  
End Effector ◽  
Spatial Mechanism ◽  
Joint Axis ◽  
Position And Orientation ◽  
Six Degree Of Freedom

This paper introduces a reconfigurable closed-loop spatial mechanism that can be applied to repetitive motion tasks. The concept is to incorporate five pairs of non-circular gears into a six degree-of–freedom closed-loop spatial chain. The gear pairs are designed based on given mechanism parameters and a user defined motion specification of a coupler link of the mechanism. It is shown in the paper that planar gear pairs can be used if the spatial closed-loop chain is comprised of six pairs of parallel joint axes, i.e. the first joint axis is parallel to the second, the third is parallel to the fourth, ..., and the eleventh is parallel to the twelfth. This paper presents the synthesis of the gear pairs that satisfy a specified three-dimensional position and orientation need. Numerical approximations were used in the synthesis the non-circular gear pairs by introducing an auxiliary monotonic parameter associated to each end-effector position to parameterize the motion needs. The findings are supported by a computer animation. No previous known literature incorporates planar non-circular gears to fulfill spatial motion generation needs.

Research on the Three-Dimensional Displaying of STL ASCII and Binary File

2014 ◽  
Vol 940 ◽  
pp. 433-436 ◽  
Author(s):  
Ying Zhang ◽  
Xin Shi
Keyword(s):  
Detailed Analysis ◽  
Programming Language ◽  
Coordinate Transformation ◽  
Graphical Representation ◽  
Three Dimensional ◽  
File Format ◽  
Binary File ◽  
Stl File ◽  
File Formats ◽  
Three Dimensional Display

Based on the detailed analysis of the STL file format, VC++ 6.0 programming language was used to extract the STL ASCII and binary file information, at the same time, using the OpenGL triangle drawing technology for graphical representation of the STL file, with rendering functions such as material, coordinate transformation, lighting, et al, finally realizing the loading and three-dimensional display of STL ASCII and binary file formats.

Nonlinear Axisymmetric Deformation Model for Structures of Revolution

2011 ◽  
Vol 3 (4) ◽  
pp. 420-447
Author(s):  
Ayman Mourad ◽  
Jawad Zaarour
Keyword(s):  
Coordinate System ◽  
Three Dimensional ◽  
Axisymmetric Deformation ◽  
Large Displacement ◽  
Deformation Model ◽  
Dimensional Model ◽  
Three Dimensional Model ◽  
Cylindrical Coordinate ◽  
Mathematical Derivation ◽  
Displacement Effects

AbstractAn axisymmetric formulation for modeling three-dimensional deformation of structures of revolution is presented. The axisymmetric deformation model is described using the cylindrical coordinate system. Large displacement effects and material nonlinearities and anisotropy are accommodated by the formulation. Mathematical derivation of the formulation is given, and an example is presented to demonstrate the capabilities and efficiency of the technique compared to the full three-dimensional model.

CCD Camera Calibration Technology Based on the Translation of Coordinate Measuring Machine

2014 ◽  
Vol 568-570 ◽  
pp. 320-325 ◽  
Author(s):  
Feng Shan Huang ◽  
Li Chen
Keyword(s):  
Coordinate System ◽  
Camera Calibration ◽  
Characteristic Point ◽  
Coordinate Measuring Machine ◽  
Ccd Camera ◽  
Mathematic Model ◽  
Calibration Method ◽  
Calibration Characteristic ◽  
Standard Sphere ◽  
Measuring Machine

A new CCD camera calibration method based on the translation of Coordinate Measuring Machine (CMM) is proposed. The CMM brings the CCD camera to produce the relative translation with respect to the center of the white ceramic standard sphere along the X, Y, Z axis, and the coordinates of the different positions of the calibration characteristic point in the probe coordinate system can be generated. Meanwhile, the camera captures the image of the white ceramic standard sphere at every position, and the coordinates of the calibration characteristic point in the computer frame coordinate system can be registered. The calibration mathematic model was established, and the calibration steps were given and the calibration system was set up. The comparing calibration result shows that precision of this method is equivalent to that of the special calibration method, and the difference between the calibrating data of these two methods is within ±1μm.

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