The paper presents an algorithm for estimating the pose of a rigid body in real-time. The method relies on the measurement of the location of three body points and minimizes the influence of measurement errors on the estimate. The method is applied to the solutions of the direct position analysis of the Stewart platform manipulator of type 6-3 and of the fully parallel spherical wrist. Comparison with other methods shows that the proposed algorithm performs better in terms of estimate accuracy and computation. © 2006 Elsevier Ltd. All rights reserved.
Accurate and Fast Body Pose Estimation by Three Point Position Data / R. VERTECHY; V. PARENTI CASTELLI. - In: MECHANISM AND MACHINE THEORY. - ISSN 0094-114X. - ELETTRONICO. - 42:9(2007), pp. 1170-1183. [10.1016/j.mechmachtheory.2006.08.010]
Accurate and Fast Body Pose Estimation by Three Point Position Data
VERTECHY, ROCCO;PARENTI CASTELLI, VINCENZO
2007
Abstract
The paper presents an algorithm for estimating the pose of a rigid body in real-time. The method relies on the measurement of the location of three body points and minimizes the influence of measurement errors on the estimate. The method is applied to the solutions of the direct position analysis of the Stewart platform manipulator of type 6-3 and of the fully parallel spherical wrist. Comparison with other methods shows that the proposed algorithm performs better in terms of estimate accuracy and computation. © 2006 Elsevier Ltd. All rights reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
