Automatic 6-D.O.F. Kinematic Trajectory Acquisition and Analysis

[+] Author and Article Information
E. K. Antonsson

Division of Engineering and Applied Science, California Institute of Technology, Pasadena, California 91125

R. W. Mann

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts 02139

J. Dyn. Sys., Meas., Control 111(1), 31-39 (Mar 01, 1989) (9 pages) doi:10.1115/1.3153016 History: Received September 18, 1987; Online July 21, 2009


An optoelectronic photogrammetric system to measure the spatial kinematic histories of linkages is presented. A Body Coordinate System approach produces both three-dimensional position and orientation trajectories with no singularities for any rotation. Bandwidth is in excess of 300 Hz for each of 10 link elements. A detailed analysis and measurement of the intrinsic camera calibration corrections has been performed using 12,000 calibration points per camera. An independent verification of spatial accuracy has been performed.

Copyright © 1989 by ASME
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