Estimation of Object Kinematics From Point Data

Vithani, Anand R.; Gupta, K. C.

doi:10.1115/1.1639377

Cited by 12 publications

(8 citation statements)

References 22 publications

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“…The proposed method is a generalisation of the invariant method developed for three non-collinear markers by Angeles [2]. The use of redundant data has been identified as a critical aspect to improve the accuracy in kinematic parameters [18]. Our method allows the use of a set of n > 3 markers without losing the simplicity of the invariant method.…”

Section: Discussionmentioning

confidence: 98%

“…This approach is simpler than the methods based on linear algebra [12] or in singular value decomposition [18], 20.…”

Section: Discussionmentioning

confidence: 99%

“…Using the properties of the velocity field of a rigid body, it is possible to estimate the angular velocity and the instantaneous helical axis (IHA) location. This approach has been used in the field of the Theory of Machines and Mechanisms to develop some methods of kinematic analysis [2,12,13,18].…”

Section: Introductionmentioning

confidence: 99%

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Effect of marker cluster design on the accuracy of human movement analysis using stereophotogrammetry

et al. 2006

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This paper presents a new, simple model to evaluate the instrumental random errors in kinematic analysis of human movements using stereophotogrammetry. By means of equations analogous to that relate linear or angular momentum with linear or angular velocities, a direct measurement of instantaneous motion can be made without previous finite displacement analysis. Single explicit expressions can be obtained to evaluate the influence of instrumental random errors in the accuracy of the kinematic variables. From these expressions, some conclusions about the effect of marker cluster design on the experimental errors are obtained. An experiment has been carried out in order to validate the proposed technique and to assess the experimental errors in linear and angular velocity measurement and its influence in instantaneous helical axis determination.

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Section: Discussionmentioning

confidence: 98%

“…This approach is simpler than the methods based on linear algebra [12] or in singular value decomposition [18], 20.…”

Section: Discussionmentioning

confidence: 99%

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Effect of marker cluster design on the accuracy of human movement analysis using stereophotogrammetry

et al. 2006

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“…Screw axis analysis is widely used in the fields of robotics and biomechanics. Several methods have been developed to determine the screw parameters given the measurements of the motion of landmarks on a rigid body [4][5][6][7][8][9]. In contrast to the non-linear analysis of finite displacements using rotation matrix, velocity analysis is a linear problem with simple explicit equations.…”

Section: Introductionmentioning

confidence: 99%

Application of vector finite screw analysis to determine the roll centre from wheel points

Chen¹,

Huang²,

Lin³

2011

Proceedings of the Institution of Mechanical Engineers, Part C:

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In kinematic and compliance testing for suspensions, great importance is attached to the measurement of the instant centre and roll centre. As the suspension construction is truly three-dimensional, the screw axis theory can afford a much more accurate kinematic analysis. The purpose of this study was to present a vector finite displacement method (FSA v ) for the kinematic analysis of instant centre and roll centre of suspensions. Two suspension simulation models, with and without approximately singular screw parameter, respectively, were employed to investigate the efficiency of the proposed method. It was found that the FSA v method prevailed over the method of general finite screw axis. In addition, it was not necessary to calculate the velocity matrix from the derivatives. This proposed method, therefore, is suitable for determining the roll centre height and the related parameters of instant centre. Moreover, it can be expanded for the measurement of the kingpin axis as well.

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“…The second method is similarly called SVD/ QS Decomposition. An extension of this method for estimating object velocity and acceleration states from given point position, velocity and acceleration data is presented in [6].…”

Section: Introductionmentioning

confidence: 99%

Determination of rigid-body pose from imprecise point position measurements

Tegopoulou¹,

Papadopoulos²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The determination of a rigid-body position and orientation from the position of a number of its points is one of the fundamental problems in kinematics. This problem arises in robotics, biomechanics, automatic guided vehicles, real-time control of space structures, etc. Under ideal conditions, it is possible to apply classical methods to find a body's position and orientation. However, in the presence of noise, these methods yield results that are unreliable and inconsistent. Two existing and a new method for determining position and orientation from noisy point coordinate data are presented. The theoretical analysis of the methods combined with an extensive simulation process led to conclusions about their behavior in different situations. The proposed method yields better orientation estimates than the other two methods, yielding reliable results both for absolute and relative position measurements and for low and high noise levels. Index terms-Body coordinates from point coordinates, rigid body motion, rigid body pose estimation.

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Estimation of Object Kinematics From Point Data

Cited by 12 publications

References 22 publications

Effect of marker cluster design on the accuracy of human movement analysis using stereophotogrammetry

Effect of marker cluster design on the accuracy of human movement analysis using stereophotogrammetry

Application of vector finite screw analysis to determine the roll centre from wheel points

Determination of rigid-body pose from imprecise point position measurements

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