Hand to sensor calibration:: A geometrical interpretation of the matrix equation AX=XB

被引：70

作者：

Fassi, I

Legnani, G

机构：

[1] Univ Brescia, Dipartimento Ingn Meccan, I-25123 Brescia, Italy

[2] CNR, ITIA, I-20131 Milan, Italy

来源：

JOURNAL OF ROBOTIC SYSTEMS | 2005年 / 22卷 / 09期

关键词：

D O I：

10.1002/rob.20082

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, the matrix equation AX=XB used for hand to sensor calibration of robot-mounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances A(i)X=XBi (i=1,2,...) of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed. (C) 2005 Wiley Periodicals, Inc.

引用

页码：497 / 506

页数：10

共 15 条

[1] FINDING THE POSITION AND ORIENTATION OF A SENSOR ON A ROBOT MANIPULATOR USING QUATERNIONS [J].