Publication

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

Conference Article

Conference

IEEE International Conference on Robotics and Automation (ICRA)

Edition

2003

Pages

355-361

Doc link

http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1241621

File

Download the digital copy of the doc pdf document

Abstract

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.

Categories

robots.

Scientific reference

F. Thomas, E. Ottaviano, L. Ros and M. Ceccarelli. Coordinate-free formulation of a 3-2-1 wire-based tracking device using Cayley-Menger determinants, 2003 IEEE International Conference on Robotics and Automation, 2003, Taipei, Taiwan, pp. 355-361, IEEE.