Get rX rY position of an object

Hello

I'm doing an internship project. But I keep getting stuck.

What I do:

It is a platform of Stewart. The platform can be moved to 6DDL. The actuators are muscle cylinder without bearings.
I'm trying to get the xyz + rotation angles (rX rY rZ) of the platform. I have it using 1 (Ueye) camera that looks at the bottom of the platform, on the bottom there is a picture of model:

What I do is: I throw a threshold above the camera image and use the analysis of the particle to point 5, to get Center of mass and the region.
The idea of getting the rX and rY of the platform looked at the ground and measure the deformation that takes place.

What 0position looks like:

What it looks like pure rY to the movement:

What looks like pure movement of rX:

What is my problem:
I try to measure the deformation of the rX and rY which will look like this (extravagant drawing):

All the measures I have made (length and area) in a pure rX position (see photo 5) will also change the measure of the position of rY.
In my measurements, it seems that rX and ry. change, but this is not the case. RX only should change.

Now someone has an idea to do my more specific measurements, so I can say that it is a movement of rX and there is a movement of rY?

I hope you understand my post. It is really difficult to explain things in a foreign language.

Sincerely,
Rick

I got my answer!

What I do now is:

I calculate these 4 surfaces with all 5 points of massive.
This way I have the greater deformation of the delta values. It's already better than my gyro on my phone!
Tomorrow I'm doing it with a more precise measuring device, but this looks promising.

Thank you for your interest, unhappy, we couldn't come to any solution.

Rick.

Tags: NI Hardware

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