Performance Analysis of a 3-2-1 Pose Estimation Device
| Autor: | Erika Ottaviano, Lluís Ros, Federico Thomas, Marco Ceccarelli |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2005 |
| Předmět: |
Forward kinematics
Covariance matrix pose measuring devices Parallel manipulator 3D pose estimation Rigid body Articulated body pose estimation Computer Science Applications Kinematics singularities Bias error Pose measuring devices Control and Systems Engineering Control theory Parallel manipulators parallel manipulators kinematics singularities Distance geometry Electrical and Electronic Engineering Pose Trilateration Robots distance geometry Mathematics |
| Zdroj: | Digital.CSIC. Repositorio Institucional del CSIC instname |
| Popis: | This paper deals with the problem of estimating the pose of a moving rigid body by measuring the length of six wires attached to it. Since wires can be seen as extensible legs, this problem is equivalent to that of solving the forward kinematics of a six-degree-of-freedom parallel manipulator. Among all possible locations for the attachments on the moving object, the "3-2-1" configuration is shown to exhibit a large number of favorable properties. The performance analysis of this particular configuration is addressed by finding analytic expressions for the estimated pose covariance matrix and the expected value of the pose estimation error, or bias error, which has been omitted in the previous analysis of wire-based tracking devices. This analysis takes advantage of a formulation for trilateration based on Cayley-Menger determinants, which is mathematically more tractable compared to previous ones, because all terms involved are determinants with geometric meaning. This accommodates a more thorough investigation of the properties of the device. This work was supported by the project 'Resolución de sistemas de ecuaciones cinemáticas para la simulación de mecanismos, posicionado interactivo de objetos y conformación de moléculas' (070-722). |
| Databáze: | OpenAIRE |
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