A Linear Approach for Robot Hand-Eye Calibration Based on the Projection Matrix M
LIU Feng1,2, SUN Mao-xiang1, DONG Zhu-xin1, XU Jin-xue1
1. School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110023, China; 2. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
刘峰, 孙茂相, 董竹新, 徐进学. 一种基于投影矩阵M的机器人手眼标定线性化方法[J]. 机器人, 2005, 27(4): 301-305..
LIU Feng, SUN Mao-xiang, DONG Zhu-xin, XU Jin-xue. A Linear Approach for Robot Hand-Eye Calibration Based on the Projection Matrix M. ROBOT, 2005, 27(4): 301-305..
Abstract：This paper presents a new approach for robot hand-eye calibration based on the projection matrix M that yields a homogeneous transform equation MY=MYB. Meanwhile, the matrix direct product and matrix characteristic vector methods are utilized in order that the traditional non-linear calculation can be transformed into linear problems, which generate an analytical form that can be solved by least square methods. Some experiments are given to show the feasibility of the method.
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