Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data

@article{Wu2017FindingTK,
  title={Finding the Kinematic Base Frame of a Robot by Hand-Eye Calibration Using 3D Position Data},
  author={Liao Wu and Hongliang Ren},
  journal={IEEE Transactions on Automation Science and Engineering},
  year={2017},
  volume={14},
  pages={314-324}
}
When a robot is required to perform specific tasks defined in the world frame, there is a need for finding the coordinate transformation between the kinematic base frame of the robot and the world frame. The kinematic base frame used by the robot controller to define and evaluate the kinematics may deviate from the mechanical base frame constructed based on structural features. Besides, by using kinematic modeling rules such as the product of exponentials (POE) formula, the base frame can be… CONTINUE READING

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