**8. References**

Cheng H., Yiu Y.K., Li Z.X. (2003) Dynamics and control of redundantly actuated parallel manipulators. *IEEE Trans. Mechatronics*, 8(4): 483-491

**0**

**13**

*Poland*

**Estimation of Position and Orientation for Non–Rigid Robots Control Using**

Robots are well established in science and technique. They are used in different environments and they have different structures. Typical robot movements are rapid and steepy when the movement direction changes occurs. It is not necessary to replicate a biological nature based solution for most tasks, so such movements are acceptable and simpler to obtain. Control algorithms are simpler for such cases, development and settings of such controllers are more

Robots are also based on a set of joins and serial or parallel configurations. Different configurations are usefully for selected task and may be not based on biological nature references. Replication of biological nature are not necessary, and for example a wheels that

Join based approach of robot design is well established and there are many technical advantages of such structure (Fig. 1). Mechanic of the robots is based mostly on a kind of the skeleton. The endoskeletons design uses a mechanical parts located inside light–weight casing. The exoskeletons design uses a mechanical parts that is casing also. Some robots uses mixed design, where the 'bones' are in endosceleton design and only joints uses exosceleton

The bones are fixed, so length of the bone or its curvature is not possible to change. Additional actuators for arm extension are used sometimes. Fixed structure of the robot, even if redundant number of degrees of freedom is available, is convenient for analysis and design.

**1. Introduction**

straightforward.

Fig. 1. Rigid actuator

are simple to design have not biological references.

design. Exosceletons design are used in hostile environments typically.

*Department of Signal Processing and Multimedia Engineering*

**Motion Capture Techniques**

*West Pomeranian University of Technology, Szczecin*

Przemysław Mazurek

