Estimation of Object Kinematics From Point Data

[+] Author and Article Information
Anand R. Vithani

Empod Corporation, 1121 E. Main St., St. Charles, IL 60174e-mail: avithani@msn.com

Krishna C. Gupta

College of Engineering, University of Illinois at Chicago, Chicago, IL 60607-7043e-mail: kcgupta@uic.edu

J. Mech. Des 126(1), 16-21 (Mar 11, 2004) (6 pages) doi:10.1115/1.1639377 History: Received January 01, 2002; Online March 11, 2004
Copyright © 2004 by ASME
Your Session has timed out. Please sign back in to continue.


Chutakanonta, P., 1998, “An Analysis of the Accuracy of Object Position determined from the Point Coordinate Data,” Masters Thesis, Department of Mechanical Engineering, University of Illinois at Chicago.
Gupta,  K. C., and Chutakanonta,  P., 1998, “Accurate Determination of Object Position from Imprecise Data,” ASME J. Mech. Des., 120(4), pp. 59–564, Dec.
Beggs, J. S., 1966, Advanced Mechanism, Macmillan, New York.
Suh, C. H., and Radcliffe, C. W., 1978, Kinematics and Mechanisms Design, J. Wiley, New York.
Bottema, O., and Roth, B., 1979, Theoretical Kinematics, North Holland, Amsterdam.
Angeles, J., 1982, Spatial Kinematics, Springer-Verlag, Berlin.
Beggs, J. S., 1983, Kinematics, Hemisphere, Washington.
Cheng,  H., and Gupta,  K. C., 1989, “An Historical Note on Finite Rotations,” ASME J. Appl. Mech., 56, pp. 139–145.
Gupta, K. C., 1997, Mechanics and Control of Robots, Springer-Verlag, New York.
Angeles,  J., 1986, “Automatic Computation of Screw Parameters of Rigid Body Motions, Part I: Finitely Separated Positions,” ASME J. Dyn. Syst., Meas., Control, 108(1), pp. 32–38.
Laub,  A. J., and Shiflett,  G. R., 1982, “Linear Algebra Approach to the Analysis of Rigid Body Displacement from Initial and Final position Data,” ASME J. Appl. Mech., 49(1), pp. 213–216.
Fenton, R. G., and Shi, X., 1989, “Comparison of Methods for Determining Screw Parameters of Finite Rigid Body motion from Initial and Final Position Data,” Proc. ASME Design Automation Conference—Advances in Design Automation, DE19(3) pp. 433–439.
Spoor,  C. W., and Veldpaus,  F. E., 1980, “Rigid Body Motion Calculated from Spatial Coordinates of Markers,” J. Biomech., 13(4), pp. 391–393.
Shiflett,  G. R., and Laub,  A. J., 1995, “The Analysis of Rigid Body Motion from Measured Data,” ASME J. Dyn. Syst., Meas., Control, 117(4), pp. 578–584.
Laub,  A. J., and Shiflett,  G. R., 1983, “A Linear Algebra Approach to the Rigid Body Velocity from Position and Velocity Data,” ASME J. Dyn. Syst., Meas., Control, 105, pp. 92–95.
Angeles,  J., 1986, “Automatic Computation of Screw Parameters of Rigid Body Motions, Part II: Infinitesimally Separated Positions,” ASME J. Dyn. Syst., Meas., Control, 108(1), pp. 39–43.
Sommer,  H. J., 1992, “Determination of 1st and 2nd—Order Instant Screw Parameters from Landmark Trajectories,” ASME J. Mech. Des., 114(2), pp. 274–282.
Rico-Martinez,  J. M., and Gallardo-Alvarado,  J., 2000, “A Simple Method for the Determination of Angular Velocity and Acceleration of a Spherical motion through Quaternions,” Meccanica, 35(2), pp. 111–118.
Chaudhari,  S., and Karandikar,  S. S., 1996, “Recursive Methods for the Estimation of Rotation Quaternions,” IEEE Trans. Aerosp. Electron. Syst., 32(2), pp. 845–854.
Condurache,  D., and Matcovschi,  M. H., 2001, “Algebraic Computation of the Twist of a Rigid Body Through Direct Measurements,” Comput. Methods Appl. Mech. Eng., 190(40–41), pp. 5357–5376, July.
Angeles,  J., 1987, “Computation of Rigid Body Angular Acceleration from Point-Acceleration Measurements,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 124–127.
Penny, J., and Lindfield, G., 2000, Numerical Methods using MATLAB, Prentice Hall, 2nd Edition.
Gennery,  D. B., 1992, “Visual Tracking of Known 3-Dimensional Objects,” Int. J. Comput. Vis., 7(3), pp. 243–270.
Allen,  P. K., Timcenko,  A., Yoshimi,  B., and Michelman,  P., 1993, “Automated Tracking and Grasping of a moving Object With a Robotic Hand-Eye System,” IEEE Trans. Rob. Autom., 9(2), pp. 152–164.
Heeren,  T. A. G., and Veldpaus,  F. E., 1992, “Optical System to Measure the End Effector Position for On-Line Control Purposes,” Int. J. Robot. Res., 11(1), pp. 53–63.
Weng,  J., Cohen,  P., and Rebibo,  N., 1992, “Motion and Structure Estimation from Stereo Image Sequences,” IEEE Trans. Rob. Autom., 8(3), pp. 362–382.
He,  J. P., and Tian,  C. X., 1998, “A Statistical Smoothness Measure to Eliminate Outliers in Motion Trajectory Tracking,” Human Movement Science, 17(2), pp. 189–200.
Strang, G., 1988, Linear Algebra and its Applications, Harcourt Brace Jovanovich, San Diego.
Vithani, A. R., 2002, “Estimation of Object Kinematics from the Point Coordinate, Velocity and Acceleration Data,” Masters Thesis, Department of Mechanical Engineering, University of Illinois at Chicago.




Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In