An optimization method for overdetermined kinematic problems formulated with natural coordinates.
Keywords: 
Kinematic analysis.
Motion reconstruction.
Natural coordinates.
Redundant constraint equations.
Optimization.
Issue Date: 
Dec-2011
Publisher: 
Springer
ISSN: 
1384-5640
Citation: 
Ausejo, S., Suescun, Á., & Celigüeta, J. (2011). An optimization method for overdetermined kinematic problems formulated with natural coordinates. Multibody System Dynamics, 26, 397-410.
Abstract
In this paper, we present an optimization method for solving the nonlinear constrained optimization problem arising from a motion reconstruction problem formulated with natural coordinates. A motion reconstruction problem consists in a kinematic analysis of a rigid multibody system whose motion is usually overdetermined by an excess of data. The method has been applied to the analysis of human motion which is a typical case of an overdetermined kinematic problem as a large number of markers are usually placed on a subject to capture its movement. The efficiency of the method has been tested both with computer-simulated and real experimental data using models that include open and closed kinematic loops.

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