An Iterative Algorithm for Wrist-Mounted Robotic Sensor Calibration with or without External Orientation Measurement

@article{Zhuang1992AnIA,
  title={An Iterative Algorithm for Wrist-Mounted Robotic Sensor Calibration with or without External Orientation Measurement},
  author={Hanqi Zhuang and Yiu Cheung Shiu},
  journal={1992 American Control Conference},
  year={1992},
  pages={2479-2483}
}
An iterative algorithm for calibration of wrist-mounted robotic sensors is presented. The sensor-wrist calibration can be performed by solving a system of homogeneous transformation equations of the form AiX = XBi, where X is the unknown sensor position relative to the robot wrist, Ai is the ith robot motion, and Bi is the ith sensor motion [1-4]. Unlike existing approaches, the algorithm presented here solves kinematic parameters of X in one stage, thus eliminating error propagations and… CONTINUE READING

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