Iterative weighted algorithm for 9-dof pose solution and its application

Nine-axis motion parameters need to be calculated according to the relative pose to be simulated when the precision calibration test of rendezvous and docking optical imaging sensor is carried out with nine-degree of freedom motion simulator. Based on the structural characteristics of the system and...

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Bibliographic Details
Published inJournal of physics. Conference series Vol. 2383; no. 1; pp. 12156 - 12162
Main Authors Zuo, Xiangyun, Li, Zhanxin, Li, Jianming, Xu, Shuo, He, Huadong
Format Journal Article
LanguageEnglish
Published Bristol IOP Publishing 01.12.2022
Subjects
Axis movements
Coordinate transformations
Degrees of freedom
Inverse kinematics
Iterative algorithms
Mathematical analysis
Motion simulators
Optimization
Physics
Simulation
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Summary:Nine-axis motion parameters need to be calculated according to the relative pose to be simulated when the precision calibration test of rendezvous and docking optical imaging sensor is carried out with nine-degree of freedom motion simulator. Based on the structural characteristics of the system and the principle of homogeneous coordinate transformation, the inverse kinematics equations are established in this paper, in order to improve the test efficiency and ensure the accuracy of pose simulation, the iterative algorithm with fixed degrees of freedom was adopted to approximate the solution results, at last, the nine-axis weighting algorithm was used to judge the end of iteration and obtain the solution results of relative pose optimization.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2383/1/012156