Bat brushes: on the uses of six position and orientation parameters in a paint program

1989 ◽  
Author(s):  
C. Ware ◽  
C. Baxter
Keyword(s):  
Position And Orientation ◽  
Orientation Parameters

scholarly journals Modeling the Influence of Oil Film, Position and Orientation Parameters on the Accuracy of a Laser Triangulation Probe

Sensors ◽  
2019 ◽  
Vol 19 (8) ◽  
pp. 1844 ◽  
Author(s):  
Chengxing Wu ◽  
Baijin Chen ◽  
Chunsheng Ye ◽  
Xiaopeng Yan
Keyword(s):  
Incident Angle ◽  
Free Form ◽  
Laser Triangulation ◽  
Oil Film ◽  
Depth Measurement ◽  
Factors Associated ◽  
Position And Orientation ◽  
Orientation Parameters ◽  
Touch Probe ◽  
Topography Data

The laser triangulation probe conveniently obtains surface topography data of a measured target. However, compared to the touch probe, its reliability and accuracy can be negatively affected by various factors associated with the object being measured and the probe itself. In this paper, to identify potential compensation strategies to improve the accuracy of depth measurement for laser triangulation probe, the measuring errors caused by an oil film on the measured surface, and the probe’s position and orientation parameters with respect to the measuring object (including scan depth, incident angle, and azimuth angle), were studied. A theoretical model based on the geometrical optics, and an empirical model from the error evaluations, were established to quantitatively characterize the error influence of oil film and probe’s parameters, respectively. We also investigated the influence pattern of different filtering methods with several comparison experiments. The verification procedures, measuring both a free-form surface (chevron-corrugated plate) and a gauge block covered with an oil film, demonstrate that these models and measurement suggestions are viable methods for predicting theoretical error and can be used as compensation references to improve the accuracy of depth measurement to the laser triangulation probe.

On the Generation of Complex Trajectories Using a Robotic System with Six Degrees of Freedom

2014 ◽  
Vol 657 ◽  
pp. 803-807
Author(s):  
Dorin Bădoiu ◽  
Marius Petrescu ◽  
Georgeta Toma ◽  
Johannes Cornelis Helthuis
Keyword(s):  
Degrees Of Freedom ◽  
Robotic System ◽  
Six Degrees Of Freedom ◽  
Robot Gripper ◽  
Orientation Function ◽  
Parabolic Trajectory ◽  
Simulation Results ◽  
Position And Orientation ◽  
Complex Trajectories ◽  
Orientation Parameters

In this paper a method that allows the generation of complex trajectories using a RRTRRR robotic system (with five rotation modules and a translation module) is presented. The method is based on the decoupling between the positioning function and the orientation function of the tool frame (OTxTyTzT) attached to the robot gripper. The method permits to determine all the solutions corresponding to the robot coordinates that allow obtaining the movement of the tool frame with imposed position and orientation parameters. Finally, some simulation results are presented in the case when OT is moving along a parabolic trajectory with an imposed orientation of the tool frame.

Computer Indexing of Electron Diffraction Patterns Including the Effects of Lattice Symmetry

1977 ◽  
Vol 35 ◽  
pp. 22-23
Author(s):  
J. S. Lally ◽  
R. J. Lee
Keyword(s):  
Electron Diffraction ◽  
Zone Axis ◽  
Crystal Thickness ◽  
Double Diffraction ◽  
Automated Method ◽  
Lattice Symmetry ◽  
Intensity Calculations ◽  
Unknown Structure ◽  
Diffraction Patterns ◽  
Orientation Parameters

In the 50 year period since the discovery of electron diffraction from crystals there has been much theoretical effort devoted to the calculation of diffracted intensities as a function of crystal thickness, orientation, and structure. However, in many applications of electron diffraction what is required is a simple identification of an unknown structure when some of the shape and orientation parameters required for intensity calculations are not known. In these circumstances an automated method is needed to solve diffraction patterns obtained near crystal zone axis directions that includes the effects of systematic absences of reflections due to lattice symmetry effects and additional reflections due to double diffraction processes.Two programs have been developed to enable relatively inexperienced microscopists to identify unknown crystals from diffraction patterns. Before indexing any given electron diffraction pattern, a set of possible crystal structures must be selected for comparison against the unknown.

scholarly journals CNN Training Using 3D Virtual Models for Assisted Assembly with Mixed Reality and Collaborative Robots

2021 ◽  
Vol 11 (9) ◽  
pp. 4269
Author(s):  
Kamil Židek ◽  
Ján Piteľ ◽  
Michal Balog ◽  
Alexander Hošovský ◽  
Vratislav Hladký ◽  
...  
Keyword(s):  
Mixed Reality ◽  
Current Trend ◽  
Robot Vision ◽  
Processing Unit ◽  
Single Shot ◽  
Vision Systems ◽  
Collaborative Robots ◽  
Training Time ◽  
Position And Orientation ◽  
Collaborative Robot

The assisted assembly of customized products supported by collaborative robots combined with mixed reality devices is the current trend in the Industry 4.0 concept. This article introduces an experimental work cell with the implementation of the assisted assembly process for customized cam switches as a case study. The research is aimed to design a methodology for this complex task with full digitalization and transformation data to digital twin models from all vision systems. Recognition of position and orientation of assembled parts during manual assembly are marked and checked by convolutional neural network (CNN) model. Training of CNN was based on a new approach using virtual training samples with single shot detection and instance segmentation. The trained CNN model was transferred to an embedded artificial processing unit with a high-resolution camera sensor. The embedded device redistributes data with parts detected position and orientation into mixed reality devices and collaborative robot. This approach to assisted assembly using mixed reality, collaborative robot, vision systems, and CNN models can significantly decrease assembly and training time in real production.

scholarly journals Kinematic of the Position and Orientation Synchronization of the Posture of a n DoF Upper-Limb Exoskeleton with a Virtual Object in an Immersive Virtual Reality Environment

Electronics ◽  
2021 ◽  
Vol 10 (9) ◽  
pp. 1069
Author(s):  
Deyby Huamanchahua ◽  
Adriana Vargas-Martinez ◽  
Ricardo Ramirez-Mendoza
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Human Performance ◽  
Early Stage ◽  
Inverse Kinematic ◽  
Virtual Object ◽  
Immersive Virtual Reality ◽  
Virtual Reality Environment ◽  
Upper Limb Exoskeleton ◽  
Position And Orientation

Exoskeletons are an external structural mechanism with joints and links that work in tandem with the user, which increases, reinforces, or restores human performance. Virtual Reality can be used to produce environments, in which the intensity of practice and feedback on performance can be manipulated to provide tailored motor training. Will it be possible to combine both technologies and have them synchronized to reach better performance? This paper consists of the kinematics analysis for the position and orientation synchronization between an n DoF upper-limb exoskeleton pose and a projected object in an immersive virtual reality environment using a VR headset. To achieve this goal, the exoskeletal mechanism is analyzed using Euler angles and the Pieper technique to obtain the equations that lead to its orientation, forward, and inverse kinematic models. This paper extends the author’s previous work by using an early stage upper-limb exoskeleton prototype for the synchronization process.

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