A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement

@article{Zhuang1993ANA,
  title={A noise-tolerant algorithm for robotic hand-eye calibration with or without sensor orientation measurement},
  author={Hanqi Zhuang and Yiu Cheung Shiu},
  journal={IEEE Trans. Systems, Man, and Cybernetics},
  year={1993},
  volume={23},
  pages={1168-1175}
}
An iterative algorithm for calibration of a robotic hand-eye relationship is presented. The hand-eye calibration can be performed by solving a system of homogeneous transformation equations of the form A,X = X B , , where X is the unknown sensor position relative to the robot wrist, A, is the zth robot motion, and E, is the ath sensor motion. Unlike existing approaches, the algorithm presented here solves kinematic parameters of X in one stage, thus eliminating error propagation and improving… CONTINUE READING

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