An optoelectronic photogrammetric system to measure the spatial kinematic histories of linkages is presented. A Body Coordinate System approach produces both three-dimensional position and orientation trajectories with no singularities for any rotation. Bandwidth is in excess of 300 Hz for each of 10 link elements. A detailed analysis and measurement of the intrinsic camera calibration corrections has been performed using 12,000 calibration points per camera. An independent verification of spatial accuracy has been performed.

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