Patent ID: 6853964
Filing Date: 2005-02-08
Classification: G05B,G06T

Abstract:
1. A method for modeling a moving object composed of one or more components, comprising: inputting data for each component of the object, the data including coordinates expressed in Euclidean space for a plurality of points x of each component; encoding, for each component, each point x as a null vector x in a homogeneous space by x=(x+½x associating a plurality of general homogeneous operators with each component to generate a model of the object; and determining a motion of the object by a time dependent displacement versor D=D(t) satisfying a differential equation D=½VD, with “screw velocity” V given by V=−Iω+eν, where ω is a velocity and ν is a rotational translational velocity of the object, wherein the object is a rigid body.