IEEE International Conference on Robotics and Automation (ICRA), 2003, Taipei (Taiwán) ; This paper deals with the problem of estimating the pose of a rigid moving object by measuring the length of six wires attached to it. Among all possible locations for the attachments on the moving object, the "3-2-1" configuration exhibits the highest number of favorable properties. A closed-form coordinate-free solution to the forward kinematics of this particular configuration is given in terms of Cayley-Menger determinants. The proposed formulation is mathematically more tractable compared to previous ones because all terms are determinants with geometric meaning. This accommodates a more thorough investigation of the properties of the device and leads to formulas whose numerical conditioning is independent from the chosen reference frames. ; 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). ; Peer Reviewed


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    Title :

    Coordinate-free formulation of a 3-2-1 wire-based tracking device using Cayley-Menger determinants


    Contributors:

    Publication date :

    2003-01-01


    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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