基于空间树的六自由度空间模型研究  

Research on 6-DOF Spatial Model Based on Spatial Tree

作　　者：郭刚[1] 王春财[1] 王全民[1] 黄柯棣[1] 

机构地区：[1]国防科学技术大学机电工程与自动化学院,长沙410073

出　　处：《系统仿真学报》2009年第12期3804-3806,3812,共4页Journal of System Simulation

摘　　要：根据空间节点之间的铰链关系,提出了基于空间树的六自由度空间模型。根据运动学规律和方向余弦阵变换,给出空间节点的空间状态自动外推计算公式和相对空间状态计算公式,分析了计算复杂性。采用面向对象方法和标准C++语言设计和实现了基于空间树的六自由度空间模型软件,通过具体计算实例进行了分析验证。A 6-DOF spatial model based on spatial tree was proposed according to the attach relations between spatial nodes The formulae of automatic spatial state extrapolating and relative spatial state computing were deduced based on principle of kinematics and transformation of direction cosine matrix. The computing complexity of the algorithm was also analyzed. Finally, the software of the 6-DOF spatial model was designed and realized with object oriented method and standard C ＋ ＋ language as well as a concrete example was used to validate the model.

关 键 词：空间树 空间模型 六自由度 坐标变换 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]