Title :
Motion estimation of unknown rigid body under no external forces and moments
Author :
MASUTANI, Yasuhiro ; Iwatsu, Takeshi ; Miyazaki, Fumio
Author_Institution :
Fac. of Eng. Sci., Osaka Univ., Japan
Abstract :
This paper presents a method to estimate and to predict general three-dimensional motions of an unknown rigid body under no external forces and moments using visual information, which is applicable to autonomous space robotic missions. Four parameters of dynamics and a reference coordinate frame to describe the motion are computed based on the Euler´s equation of motion from a sequence of angular velocity vectors extracted from difference of images. Through computer simulations for various kinds of motions the effectiveness and limitation of this method are discussed
Keywords :
aerospace computer control; image sequences; mobile robots; motion estimation; Euler´s equation of motion; angular velocity vector sequence; autonomous space robotic missions; general three-dimensional motions; image difference; motion estimation; reference coordinate frame; unknown rigid body; Angular velocity; Computer simulation; Computer vision; Equations; Motion analysis; Motion estimation; Orbital robotics; Robot kinematics; Space missions; Space technology;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351227
