• Corpus ID: 7446157

Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product

@article{Li2010SimultaneousRA,
  title={Simultaneous robot-world and hand-eye calibration using dual-quaternions and Kronecker product},
  author={Ai Guo Li and Lin Wang and Defeng Wu},
  journal={International Journal of Physical Sciences},
  year={2010},
  volume={5},
  pages={1530-1536}
}
Two solutions of the homogeneous matrix equation AX=ZB, that allows a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot wrist coordinate frames, are proposed. The presented methods introduce the Kronecker product and dual quaternions to solve the rotations and translations problem, simultaneously, with no propagation error. The experimental results in a simulated and a real environment are reported and analyzed.   Key words: Hand… 

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