Theoretical kinematics applied to three-dimensional motion estimation

This paper reviews the state of the art in estimating the three dimensional motion parameters of a robot end-effector executing space motion using a vision system. The emphasis is on methods based on geometry. A procedure to evaluate the "image invariants" based on four point correspondence of projective geometry is shown. This paper also draws attention to the analogous properties between the image invariants and the instantaneous invariants of theoretical kinematics.It is believed that the concepts of theoretical kinematics can be used to advance the state of the art in estimating the three-dimensional motion parameters.