Five methods for determining screw parameters of finite rigid body motion, using position data of three noncollinear points, are compared on the basis of their efficiency, accuracy, and sensitivity to data error. It is found that the method based on Rodrigues’ Formula (Bottema and Roth’s method) is the most efficient. Angeles’ method and Laub and Shiflett’s method provide approximately the same level of accuracy, which is superior to that of the other methods. In terms of sensitivity, Bottema and Roth’s method is preferable. On the basis of this study it is recommended that Bottema and Roth’s method be used if uncertainty exists in the data, since it can provide a solution efficiently, accurately and it is the least sensitive to data error.

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