Finding the position and orientation of a sensor on a robot manipulator using quaternions
International Journal of Robotics Research
International Journal of Robotics Research
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
Hand to sensor calibration: A geometrical interpretation of the matrix equation AX=XB
Journal of Robotic Systems
Hand-Eye Calibration Based on Screw Motions
ICPR '06 Proceedings of the 18th International Conference on Pattern Recognition - Volume 03
Design and fuzzy control of hand prosthesis or anthropomorphic robotic hand
WSEAS Transactions on Systems and Control
The simulation hybrid fuzzy control of SCARA robot
WSEAS Transactions on Systems and Control
WSEAS Transactions on Systems and Control
Digital camera calibration analysis using perspective projection matrix
ISPRA'09 Proceedings of the 8th WSEAS international conference on Signal processing, robotics and automation
An investigation on development of precision actuator for small robot
ROCOM'09 Proceedings of the 9th WSEAS international conference on Robotics, control and manufacturing technology
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A linear closed-form solution followed by Jacobian optimization is proposed to solve AX=XB for hand-eye calibration. Our approach does not require A, B satisfying rigid transformation rather than the classic ones based on quaternion algebra or screw rule. We firstly give the detailed proof of the optimal orthonormal estimation for an arbitrary scale matrix. With the theorem, a linear closed solution based on singular value decomposition (SVD) and the rule of optimal rotation estimation, is presented, followed by the nonlinear optimization with the proposed Jacobian recursive formula. Detailed deduction and demonstration are given based on matrix theory. Since our approach is applicable for non-rigid transformation rather than the classic ones, our technique is more flexible. Plenty of computer simulation and real data implementation indicate that: (1) In computation of initial value, our technique has higher precision and more robustness. (2) As more equations are added, initial value will converge to final value gradually, which shows it credible to regard initial value as final solution when many equations are supplied.