Affiliation:
1. University of Illinois at Chicago, Chicago, IL 60607-7022
Abstract
Properties of Euclidean error measures for rigid body position are investigated. For two positions represented by 4 × 4 matrices A1 and A2, it is shown that matrices [A2 − A1] and [(A1)−1 A2] lead directly to desirable measures of rotational and translational errors, while the matrix [A2(A1)−1], although physically very meaningful, does not do so. With a proper choice of the origin of the body system, it is shown that the simple difference matrix [A2 − A1] leads to positional error measures which are meaningful both analytically and physically, and can be computed efficiently.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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