基于欧氏范数的刚体转动误差测度的分析  

ANALYSIS ON MEASURES OF ROTATIONAL ERROR FOR A RIGID BODY BASED ON EUCLIDEAN NORM

作　　者：李祖踏[1] 童水光[1] 

机构地区：[1]浙江大学化机所CAD室

出　　处：《机器人》1999年第1期30-33,共4页Robot

摘　　要：基于欧氏范数的概念，对于两个３×３的空间转动位置矩阵Ｒ１和Ｒ２，文章表明矩阵［Ｒ２－Ｒ１］和［Ｒ２（Ｒ１）Ｔ］都可以直接导出理想的转动误差测度．经过分析可知。Based the concept of Euclidean norm, for two rotational positions represented by 3×3 matrices R 1 and R 2 ,it is shown that matrices [R 2-R 1] and [R 2(R 1) T] lead directly to desirable measures of rotational error . Under particular investigation ,it is made clear that the body's rotational error can be computed most efficiently through directly calculating the Euclidean norm of the matrix difference ΔR=R 2-R 1.

关 键 词：误差测度 欧氏范数 刚体转动 

分 类 号：O313.3[理学—一般力学与力学基础]