Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product

International Journal of Physical Sciences

Aiguo Li¹ 

关键词: Hand/eye calibration;    robot/world calibration;    dual quaternion;    Kronecker product.;   

DOI  :  

学科分类：物理（综合）

来源: Academic Journals

【 摘 要 】

Two solutions of thehomogeneous matrix equationAX=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. Theexperimental results in a simulated and a real environment are reported and analyzed.

【 授权许可】

CC BY