Hand to Sensor Calibration: A Geometrical Interpretation of the Matrix Equation AX=XB

Irene Fassi; Giovanni Legnani

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Hand to Sensor Calibration: A Geometrical Interpretation of the Matrix Equation AX=XB

机译：轻松进行传感器校准：矩阵方程AX = XB的几何解释

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In this paper, the matrix equation AX=XB used for hand to sensor calibration of robot-mounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances A_iX=XB_i (i = 1,2,...) of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed.

机译：在本文中，使用几何方法分析了用于机器人安装的传感器的手到传感器校准的矩阵方程AX = XB。通过分析，可以得出描述方程式属性并找到其所有解的原始方法。还需要强调的是，当要同时求解方程的多个实例A_iX = XB_i（i = 1,2，...）时，系统会受到过度约束。最后，还讨论了奇异情况。

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来源
《Journal of robotic systems》 |2005年第9期|p.497-506|共10页
作者
Irene Fassi; Giovanni Legnani;
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ITIA-CNR Viale Lombardia 20/A 20131 Milano, Italy;

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正文语种 eng
中图分类机器人技术;
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专利

1. OPTIMIZATION OF HAND-TO-CAMERA CALIBRATION USING GEOMETRICAL INTERPRETATION OF MATRIX EQUATION AX = XB [J] . Legnani Giovanni International Journal of Robotics & Automation . 2018,第1期

机译：使用矩阵方程AX = XB的几何解释优化手机到相机校准
2. Comments on 'Comments on "Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB" ' (with reply) [J] . Chen H.H., Zhuang H. IEEE Transactions on Robotics and Automation . 1992,第4期

机译：关于“关于“通过解算AX = XB形式的齐次变换方程来校准腕上机器人传感器的评论”的评论（回复）
3. Comments on 'Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB' (with reply) [J] . Zhuang H., Roth Z.S. IEEE Transactions on Robotics and Automation . 1991,第6期

机译：关于“通过求解形式为AX = XB的齐次变换方程式校准腕上机器人传感器”（有回复）
4. New probabilistic approaches to the AX = XB hand-eye calibration without correspondence [C] . Qianli Ma, Haiyuan Li, Gregory S. Chirikjian IEEE International Conference on Robotics and Automation . 2016

机译：无对应关系的AX = XB手眼校准的新概率方法
5. Real Time Self-Calibration Algorithm of Pressure Sensor for Robotic Hand Glove System [D] . Ahmed M M Almassri 2019

机译：机器人手手套系统压力传感器的实时自校准算法
6. Determination of Optimal Measurement Points for Calibration Equations—Examples by RH Sensors [O] . Hsuan-Yu Chen, Chiachung Chen 2019

机译：确定校准方程式的最佳测量点-以RH传感器为例
7. Calibration of wrist-mounted robotic sensors by solving homogeneous transform equations of the form AX=XB [O] . Y.C. Shiu, S. Ahmad 1989

机译：通过求解轴的均匀变换方程来校准腕式机器人传感器= XB的均匀变换方程
8. METHOD OF INDETERMINANT COEFFICIENTS IN LINEAR DIFFERENTIAL SYSTEMS AND THE MATRIX EQUATION XB –AX= U [R] . A. Dou 1964

机译：线性微分系统中不确定系数的方法和矩阵方程XB -aX = U

Hand to Sensor Calibration: A Geometrical Interpretation of the Matrix Equation AX=XB

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