A Method of Robot Base Frame Calibration by Using Dual Quaternion Algebra

A Method of Robot Base Frame Calibration by Using Dual Quaternion Algebra

When the robot is required to execute a certain task in the world coordinate system (WCS), it is necessary to find the coordinate transformation between the robot base coordinate system (RBCS) and WCS to enable the high precision motion planning. This paper presents a simple and accurate method that...

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Bibliographic Details
Main Authors: Gang Wang, Xiaoping Liu, Song Han
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Calibration
coordinate transformation
robot base coordinate system
world coordinate system
dual quaternion
Online Access:https://ieeexplore.ieee.org/document/8542675/

Internet

https://ieeexplore.ieee.org/document/8542675/

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