摘要
小波包分析是建立在小波分析的理论基础上将信号的高低频成分分开,为信号提供一种更加精细的分析方法。而六自由度工业机器人在进行位姿分析时,所采集的各关节的位移信号存在干扰,从而造成机器人正、逆运动学求解失败。采用小波包变换在位姿分析前对位移信号去噪,有效消除了干扰并提高了运动学的求解精度。
Wavelet packet analyze based on wavelet_analyze can divide high frequency and low frequency and is a much more precise method of signal analyze.But to do the position and attitude analyze of industrial robot with six variances,the motion signal collected by every articulation exists disturbance..This makes the regular and inverse kinematics solution lose.Using wavelet packet transform to denoise the signal before the position and attitude analyze can cancel the disturbance and increase precision of kinemati...
出处
《微计算机信息》
北大核心
2008年第5期214-215,237,共3页
Control & Automation
基金
湖北省教育厅科学研究计划项目(B200511007).
