Determination experimentale de l'orientation et de la position d'un corps rigide dans l'espace

Abstract

Ce projet de recherche a pour but de mettre au point des algorithmes efficaces permettant de determiner la position et l'orientation d'un corps rigide dans un espace tridimensionnel. Apres avoir fait un rappel mathematique des concepts de base, nous etudierons le deplacement d'un point specifique du corps. A cet effet les courbes de Bezier ou les fonctions splines cubiques seront utilisees, selon les besoins. Puis nous determinerons les parametres de vissage du corps, soit son changement d'orientation et son deplacement le long de l'axe de vissage. Ensuite nous analyserons le deplacement d'un corps sur une sphere. Comme application en robotique nous determinerons la position et l'orientation d'une camera par rapport a l'organe terminal d'un manipulateur. Finalement nous fournirons un mode d'utilisation et une liste des enonces des programmes qui ont ete developpes pour ce projet.

Alternate abstract:

You are viewing a machine translation of selected content from our databases. This functionality is provided solely for your convenience and is in no way intended to replace human translation. Show full disclaimer

Neither ProQuest nor its licensors make any representations or warranties with respect to the translations. The translations are automatically generated "AS IS" and "AS AVAILABLE" and are not retained in our systems. PROQUEST AND ITS LICENSORS SPECIFICALLY DISCLAIM ANY AND ALL EXPRESS OR IMPLIED WARRANTIES, INCLUDING WITHOUT LIMITATION, ANY WARRANTIES FOR AVAILABILITY, ACCURACY, TIMELINESS, COMPLETENESS, NON-INFRINGMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. Your use of the translations is subject to all use restrictions contained in your Electronic Products License Agreement and by using the translation functionality you agree to forgo any and all claims against ProQuest or its licensors for your use of the translation functionality and any output derived there from. Hide full disclaimer

This research project aims to develop efficient algorithms to determine the position and orientation of a rigid body in three-dimensional space. After having made a mathematical reminder of the basic concepts, we will study the displacement of a specific point of the body. For this purpose Bezier curves or cubic spline functions will be used, as required. Then we will determine the screwing parameters of the body, namely its change of orientation and its displacement along the screwing axis. Then we will analyze the displacement of a body on a sphere. As an application in robotics we will determine the position and the orientation of a camera with respect to the terminal organ of a manipulator. Finally we will provide a user guide and a list of program statements that have been developed for this project.