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Determining the Configuration of a Manipulator using Minimal Amount of Passive Fiducial Markers

In this paper we present a method for determining the configuration of a robot using at least one fiducial marker per joint on average, tracked by an optical motion capture system. Typically a rigid body requires at least three markers per tracked body for a passive motion capture system to determine its configuration. By using the kinematic model of the robot we can determine the configuration of a robot by applying on average a single marker per joint. The relation between markers and the links of a robot is specified in a markerfile which can be constructed using custom developed tools. In this paper we present such tools and an algorithm for online determination of the configuration of the robot.