Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product
نویسندگان
چکیده
Two solutions of the homogeneous matrix equation AX=ZB, that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot wrist coordinate frames, are proposed. The presented methods introduce the Kronecker product and dual quaternions to solve the rotations and translations problem, simultaneously, with no propagation error. The experimental results in a simulated and a real environment are reported and analyzed.
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تاریخ انتشار 2010