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Performance Analysis of a 3-2-1 Pose Estimation Device

Autor
Thomas, F.; Ottaviano, E.; Ros, L.; Ceccarelli, M.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2005-06
Volum
21
Número
3
Pàgina inicial
288
Pàgina final
297
DOI
https://doi.org/10.1109/TRO.2004.840894 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/document/1435474/ Obrir en finestra nova
Resum
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 conf...
Grup de recerca
KRD - Cinemàtica i Disseny de Robots

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