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.

R. VERTECHY, V. PARENTI CASTELLI (2007). Accurate and Fast Body Pose Estimation by Three Point Position Data. MECHANISM AND MACHINE THEORY, 42(9), 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.
2007
R. VERTECHY, V. PARENTI CASTELLI (2007). Accurate and Fast Body Pose Estimation by Three Point Position Data. MECHANISM AND MACHINE THEORY, 42(9), 1170-1183 [10.1016/j.mechmachtheory.2006.08.010].
R. VERTECHY; V. PARENTI CASTELLI
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/384520
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