Untested, but just to give the general idea...on the assumption that the db isn't so big as to make this unwieldy:

$sql = "SELECT * FROM params"
$sth = $dbh->prepare($sql) or die("Could not prepare!" . $dbh->errstr)
+;
$sth->execute() or die("Could not execute!" . $dbh->errstr);
while (($param_id, $param_name) = $sth->fetchrow_array()) {
        $param_names{$param_id} = $param_name;
}
$sth->finish;

$sql = "SELECT * FROM objects"
$sth = $dbh->prepare($sql) or die("Could not prepare!" . $dbh->errstr)
+;
$sth->execute() or die("Could not execute!" . $dbh->errstr);
while (($object_id, $param_id, $param_value) = $sth->fetchrow_array())
+ {
        $objects{$object_id}{$param_id} = $param_value;
}
$sth->finish;

#print column headers
foreach $param_id (sort keys %param_names) {
    print $param_names{$param_id}.", ";
}

#print data
foreach $object_id (sort keys %objects) {
    foreach $param_id (sort keys %param_names) {
        print $objects{$object_id}{$param_id}.", ";
    }
}
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Needs cleanup of trailing commas.