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| Content Provider | Directory of Open Access Journals (DOAJ) |
|---|---|
| Author | Huajian Song Zhijiang Du Weidong Wang Lining Sun |
| Abstract | In this paper, a class of singular phenomenon is first found for the existing closed-form solutions of the hand-eye calibration problem with the form AiX = XBi when the angles corresponding to rotational parts of Ai and Bi are near or equal to π radian. A universal observability index is put forward to detect when this singularity would undoubtedly occur. For avoiding this singularity, a novel analytical solution based on a new cost function is proposed to estimate the hand-eye matrix in the presence of measurement errors. Simulation and experimental results can illustrate the feasibility and benefits of the proposed observability index and the singular-free closed-form solution. In addition, the other kind of singular phenomenon is also discovered for the existing closed-form solution, where the orientation of the unknown hand-eye matrix is parameterized by modified Rodrigues parameters. Therefore, in order to obtain the non-singular analytical solution based on modified Rodrigues parameters, a novel additional rotation theory is introduced and verified by the hand-eye calibration of a novel surgical robot. |
| e-ISSN | 21693536 |
| DOI | 10.1109/ACCESS.2018.2882183 |
| Journal | IEEE Access |
| Volume Number | 6 |
| Language | English |
| Publisher | IEEE |
| Publisher Date | 2018-01-01 |
| Publisher Place | United States |
| Access Restriction | Open |
| Subject Keyword | Electrical Engineering. Electronics. Nuclear Engineering Hand-eye Calibration Singularity Analysis Observability Index Additional Rotation Theory Surgical Robot Closed-form Solution |
| Content Type | Text |
| Resource Type | Article |
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