一种基于投影矩阵M的机器人手眼标定线性化方法

被引:6
作者
刘峰
孙茂相
董竹新
徐进学
机构
[1] 沈阳工业大学信息科学与工程学院
关键词
机器人手眼标定; 投影矩阵M; 矩阵直积运算;
D O I
10.13973/j.cnki.robot.2005.04.003
中图分类号
TP242 [机器人];
学科分类号
1111 ;
摘要
提出了一种基于投影矩阵M的机器人手眼标定方法,即将AX=XB转换为MY=M′YB求解形式,避免了矩阵分解.同时,采用矩阵直积运算和矩阵特征向量运算相结合的方法,将传统的非线性问题转换成线性问题,构成了可利用最小二乘法求解运算的解析形式,提高了机器人手眼标定的精度和稳定性.通过实验验证了该方法的可行性.
引用
收藏
页码:301 / 305
页数:5
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