Abstract: Constraints of certain key point are often required in the estimation of the best position and orientation for a rigid body in cases of engineering application. Constraints are seldom involved in former point registration method, which result in deficiency of method for constraint rigid body adjustment. A registration method with engineering constraint such as two points’ symmetry is proposed, as well as points on certain plane and points on certain line. The constraints are added into registration objective function for optimization by using multi-objective model. Three rotation parameters and three translation parameters are obtained by using classical Newton nonlinear optimization method. Standard examples are presented for the demonstration of the algorithm.

Key words: Engineering constraint, Registration, Rigid body transformation, Conveying mechanism, Dynamic model, Principle of virtual work, Screw theory