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Motion estimation of unknown rigid body under no external forces and moments

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3 Author(s)
Masutani, Y. ; Fac. of Eng. Sci., Osaka Univ., Japan ; Iwatsu, T. ; Miyazaki, F.

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

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994