Pose determination in parallel kinematics systems with reference markers

An arrangement with a parallel kinematic system and means for determining the pose of the parallel kinematic system comprising:

• a camera and a marking region with mutually distinguishable markings, wherein the camera is configured to observe the marking region in different poses of the parallel kinematic system, wherein
• a distance, D, between any two markings that are adjacent in a direction satisfies the following formula:
• D
• ≤
• F
• ⁢
• O
• ⁢
• V
• min
• -
• (
• n
• +
• 1
• )
• *
• t
• m
• n
• ,
• wherein
• tm is the length of one of the markings,
• FOVmin is a length of the section of the marking region which falls into the field of view of the camera at a minimum distance of the camera from the marking region, wherein
• the minimum distance is a minimum distance among the distances that the marking region can be away from the camera due to pose changes,
• the markings are disposed in different planes, and
• the means for determining the pose of the parallel kinematic system are configured to determine the pose of the parallel kinematic system based only on images of the marking region captured by the camera if one of the images contains at least a number, n, of any of the markings in a direction, wherein n is greater than or equal to 2.