计算机应用与软件2016，Vol.33Issue(9)：199-202,4.DOI:10.3969/j.issn.1000-386x.2016.09.047
一种执行机构工作空间边界提取方法
A MANIPULATOR WORKSPACE BOUNDARY EXTRACTION ALGORITHM
摘要
Abstract
The boundary extraction of workspace is a significant operation in design and performance evaluation of actuator such as manipulators.In the paper we transform the point cloud of manipulator workspace to image,and propose a novel manipulator workspace boundary extraction algorithm in combination with greyscale image processing method.First we define the grid density algorithm,which is employed as the transform operator for transforming the point cloud to greyscale image.Grid density describes the distribution status of space point cloud,and can be used to analyse the dexterity of manipulators.Then we use mathematical morphology processing method to smooth the greyscale image and detect its boundary.Finally,by making use of the coordinate correspondence we obtain the coordinates location information of boundary through backcalculation.The accessible domain of human’s upper extremity is taken as the experimental object to verify the proposed algorithm,result indicates that the novel algorithm is fast and accurate in the extraction of accessible domain of human’s upper extremity,and has the advantages in operation speed and accuracy than some other algorithms.关键词
执行机构/工作空间/边界提取/栅格密度/数学形态学Key words
Manipulator/Workspace/Boundary extraction/Grid density/Mathematical morphology分类
信息技术与安全科学引用本文复制引用
李元丰,张万欣..一种执行机构工作空间边界提取方法[J].计算机应用与软件,2016,33(9):199-202,4.基金项目
载人航天领域预先研究项目（040301）。 （）
