李祖踏, 童水光. 基于欧氏范数的刚体转动误差测度的分析[J]. 机器人, 1999, 21(1): 30-33.
引用本文: 李祖踏, 童水光. 基于欧氏范数的刚体转动误差测度的分析[J]. 机器人, 1999, 21(1): 30-33.
LI Zuta, TONG Shuiguang. ANALYSIS ON MEASURES OF ROTATIONAL ERROR FOR A RIGID BODY BASED ON EUCLIDEAN NORM[J]. ROBOT, 1999, 21(1): 30-33.
Citation: LI Zuta, TONG Shuiguang. ANALYSIS ON MEASURES OF ROTATIONAL ERROR FOR A RIGID BODY BASED ON EUCLIDEAN NORM[J]. ROBOT, 1999, 21(1): 30-33.

基于欧氏范数的刚体转动误差测度的分析

ANALYSIS ON MEASURES OF ROTATIONAL ERROR FOR A RIGID BODY BASED ON EUCLIDEAN NORM

  • 摘要: 基于欧氏范数的概念,对于两个3×;3的空间转动位置矩阵R1和R2,文章表明矩阵R2-R1和R2(R1T都可以直接导出理想的转动误差测度.经过分析可知,通过直接求矩阵ΔR=R2-R1的欧氏范数可以效率较高地算出转动位置误差.

     

    Abstract: Based the concept of Euclidean norm,for two rotational positions represented by 3×3 matrices R1 and R2,it is shown that matrices R2-R1 and R2(R1)T lead directly to desirable measures of rotational error.Under particular investigation,it is made clear that the body's rotational error can be computed most efficiently through directly calculating the Euclidean norm of the matrix difference ΔR=R2-R1.

     

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