【作者】 刘龙；

【导师】 张建国；

【作者基本信息】 天津科技大学 ， 机械设计及理论， 2003， 硕士

【摘要】 本论文以直接线性变换(DLT)改进算法为理论基础构建了基于普通摄像机的三维摄像测量分析系统，并根据人体上肢的刚体运动模型提出了一种计算上肢关节运动参数的算法，有利于以后进行更深入的研究。 通过对几种测试系统的比较，并结合实验室现有条件，本论文构建了一套基于普通摄像机的三维摄像测量分析系统。在第二章里，对摄像机针孔及其畸变模型、直接线性变换(DLT)改进算法、程序设计、定标性能指标等几方面的内容都做了详细介绍；而且，论文中详细阐述了实验步骤，通过几个实际算例验证了系统的定标精度，并做了误差分析。 在刚体运动参数计算过程中，旋转矩阵的处理是比较麻烦的。本文利用单位四元数的性质提出了计算旋转矩阵的精简变量算法，保证了计算的稳定性和精确性，并且设计了相关实验来检验算法的精确度。具体算法在第三章里将作详细介绍。 在第四章中，通过对人体上肢解剖生理结构的研究，设计了一个七自由度的人体上肢刚体运动模型；结合三维摄像测量分析系统，提出了一套通过对标记点的跟踪拍摄来获取上肢关节运动参数的算法，并对具体上肢动作进行了测量分析。 在第五章里，对三维摄像测量分析系统程序的使用做了简单介绍。更多还原

【Abstract】 According to the modified Direct Lineal Transformation (DLT) algorithm, this paper presents a three-dimensional camera meaurement analysis system based on general cameras. Moreover, according to the rigid body model of the human upper-limb, a method of calculating the joint parameters of the human upper-limb is presented, which will provide the help for the further research.By comparing several kinds of measurement system, a three-dimensional camera measurement analysis system is established based on the current conditions of the laboratory. In Chapter 2, the following aspects are introduced in detail: the camera’s pin-hole model, its distortion model, modified DLT algorithm, the programming, calibration performance of index and the designing of the experiment. Moreover, several experiments are made to examine the measurement accuracy. Finally, the paper discusses error analysis of this system.During analyzing the motional parameters of the rigid body, it is difficult to calculate the rotary matrix. According to the unit quaternion’s property, the simplified variable algorithm is put forward in Chapter 3, which assures the accuracy and stabilization of calculating the rotary matrix. And the experiments also prove this.In Chapter 4, after studying the anatomical and physiological structure of the human upper-limb, a seven degree-of-freedom kinematics model of the human upper-limb is brought forward and an algorithm for calculating joint parameters of the upper-limb is presented. Using it, some upper limb’s movements are measured and analyzed.更多还原