ROBOT SENSOR CALIBRATION - SOLVING AX=XB ON THE EUCLIDEAN GROUP

被引：401

作者：

PARK, FC

MARTIN, BJ

机构：

[1] Department of Mechanical and Aerospace Engineering University of California at Irvin, Irvine, CA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 05期

关键词：

D O I：

10.1109/70.326576

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The equation AX = XB on the Euclidean group arises in the problem of calibrating wrist-mounted robotic sensors. In this article we derive, using methods of Lie theory, a closed-form exact solution that can be visualized geometrically, and a closed-form least squares solution when A and B are measured in the presence of noise.

引用

页码：717 / 721

页数：5

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