1Shiu Y C,Ahmad S.Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB.IEEE Transanctions on Robotics &Automation,5(1),16-29,Feb.1989
2Tsai R Y,Lenz R K.A new technique for fully autonomous and effient 3D robotics and hand/eye calibration.IEEE Transanctions on Robotics &Automation, 5(3),345-358,June.1989