Title :
Robot sensor calibration: solving AX=XB on the Euclidean group
Author :
Park, Frank C. ; Martin, Bryan J.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
fDate :
10/1/1994 12:00:00 AM
Abstract :
The equation AX=XB on the Euclidean group arises in the problem of calibrating wrist-mounted robotic sensors. In this article the authors 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
Keywords :
Lie algebras; Lie groups; calibration; detectors; least squares approximations; matrix algebra; minimisation; robots; Euclidean group; Lie theory; closed-form exact solution; closed-form least squares solution; robot sensor calibration; wrist-mounted robotic sensors; Calibration; Equations; Least squares methods; Noise measurement; Robot kinematics; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Visualization; Wrist;
Journal_Title :
Robotics and Automation, IEEE Transactions on
