Singularity Analysis for the Existing Closed-Form Solutions of the Hand-Eye Calibration

Singularity Analysis for the Existing Closed-Form Solutions of the Hand-Eye Calibration

In this paper, a class of singular phenomenon is first found for the existing closed-form solutions of the hand-eye calibration problem with the form AiX = XBi when the angles corresponding to rotational parts of Ai and Bi are near or equal to π radian. A universal observability index is...

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Bibliographic Details
Main Authors: Huajian Song, Zhijiang Du, Weidong Wang, Lining Sun
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Hand-eye calibration
singularity analysis
observability index
additional rotation theory
surgical robot
closed-form solution
Online Access:https://ieeexplore.ieee.org/document/8540357/

Internet

https://ieeexplore.ieee.org/document/8540357/

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