An Approach for Computing the Euclidean Motions on the Base of Measurement Data

摘要

Here it is shown that by coordinating any three non-collinear points in the dynamic and the inertial Cartesian frames, measured through different technical devices, it is possible to develop via the so-called vector-parameter (known also as Rodrigues or Gibbs vector) both numerical and analytical algorithms for computing the position and orientation of the rigid body in the three-dimensional Euclidean space. This study can be viewed also as an example of interesting application of the SO(3) group representations to practical problems.