Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems

@article{Figueroa2013JointOI,
  title={Joint origin identification of articulated robots with marker-based multi-camera optical tracking systems},
  author={Nadia Figueroa and Florian Schmidt and Haider Farhan Ali and Nikolaos Mavridis},
  journal={Robotics and Autonomous Systems},
  year={2013},
  volume={61},
  pages={580-592}
}
Abstract Marker-based multi-camera optical tracking systems are being used in the robotics field to track robots for validation, verification, and calibration of their kinematic and dynamic models. These tracking systems estimate the pose of tracking bodies attached to objects within a tracking volume. In this work, we explore the case of tracking the origins of joints of articulated robots when the tracking bodies are mounted on limbs or structures relative to the joints. This configuration… CONTINUE READING

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