Calibration of mobile manipulators using 2D positional features

Mili Shah,Roger V. Bostelman,Steven Legowik, Tsai H. Hong

Measurement : journal of the International Measurement Confederation（2018）

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摘要

•Calibrated mobile manipulators by solving the positional component of AX  = YB.•Created closed form solutions to 2D AX  = YB problem with missing orientational data.•Tested solutions on simulated data and data obtained from physical experiments.•Compared solutions with existing iterative and closed form solutions.

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关键词

Robot-world/hand-eye calibration,Sensor calibration,Registration,Pose,Closed form solution

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