Accurate and fast body pose estimation by three point position data

DOI10.1016/J.MECHMACHTHEORY.2006.08.010MaRDI QIDQ2641773zbMATH OpenOpenAlexFDO

Authors Rocco Vertechy, Vincenzo Parenti-Castelli

Publication date 23 August 2007

Published in Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.mechmachtheory.2006.08.010

zbMATH Keywords

Stewart platformfully parallel spherical wrist

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Kinematics of a rigid body (70B10)

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(3)

• 3D position and attitude measurement based on marking-points recognition
• Real‐time actual pose determination of the general fully parallel spherical wrist, using only one extra sensor
• Discrete-time rigid body pose estimation based on Lagrange-d'Alembert principle

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