Estimation of Position and Orientation for Non–Rigid Robots Control Using Motion Capture Techniques

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 straightforward. 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 are simple to design have not biological references. 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 design. Exosceletons design are used in hostile environments typically.