ROBOT SENSOR CALIBRATION - SOLVING AX=XB ON THE EUCLIDEAN GROUP

Authors
PARK FC MARTIN BJ
Citation
Fc. Park et Bj. Martin, ROBOT SENSOR CALIBRATION - SOLVING AX=XB ON THE EUCLIDEAN GROUP, IEEE transactions on robotics and automation, 10(5), 1994, pp. 717-721
Citations number
8
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
Journal title
IEEE transactions on robotics and automation → ACNP
ISSN journal
1042296X
Volume
10
Issue
5
Year of publication
1994
Pages
717 - 721
Database
ISI
SICI code
1042-296X(1994)10:5<717:RSC-SA>2.0.ZU;2-W
Abstract
The equation AX = XB on the Euclidean group arises in the problem of c alibrating wrist-mounted robotic sensors. In this article we derive, u sing methods of Lie theory, a closed-form exact solution that can be v isualized geometrically, and a closed-form least squares solution when A and B are measured in the presence of noise.