Accurate and fast body pose estimation by three point position data

The paper presents an algorithm for estimating the pose of a rigid body in real-time. The method relies on the measurement of the location of three body points and minimizes the influence of measurement errors on the estimate. The method is applied to the solutions of the direct position analysis of the Stewart platform manipulator of type 6-3 and of the fully parallel spherical wrist. Comparison with other methods shows that the proposed algorithm performs better in terms of estimate accuracy and computation.