标定方程AX=ZB的两种新解法

Two Solutions for Calibration Equation AX=ZB

提出了同时确定手眼关系以及机器人坐标系到世界坐标系关系的两种算法。和现有算法相比,给出的算法分别基于对偶四元数和矩阵直积理论,均可一次计算出标定方程的旋转部分和平移部分,不存在误差的传递问题。仿真结果表明了算法的有效性,这些结论对于类似问题的求解具有一定的参考价值。

Two methods that allow a simultaneous computation of the transformations from robot world to robot base and from robot tool to robot wrist coordinate frames were proposed. The presented methods are based on kronecker product and dual quaternion can solve the rotations and translations simultaneously, and no error propagation. Simulation results demonstrate the performance of the developed methods, and these results may be useful to other problems that can be formulated in the same mathematical form.