Certified Pose Determination under Uncertainties

The CATRASYS (Cassino Tracking System) measuring system is a wire tracking system used for determination of poses of objects in the space. It is well modeled as a 3-2-1 parallel manipulator. Pose determination is done by solving the Direct Kinematics, which relies on geometric parameters and measurements, both subject to uncertainties. In this paper an uncertainty model based on intervals is considered and several methods combinining interval analysis and constraint programming for handling uncertainties in systems of equations are presented. Algorithms are described that compute, for given uncertainties on parameters and measurements, a certified enclosure of the set of all possible poses. Shown results on the experimental device are certified sharp area containing the pose of the measured object.