首页|Recent Findings from Hangzhou Dianzi University Provides New Insights into Robotics (A Regularization-patching Dual Quaternion Optimization Method for Solving the Hand-eye Calibration Problem)
Recent Findings from Hangzhou Dianzi University Provides New Insights into Robotics (A Regularization-patching Dual Quaternion Optimization Method for Solving the Hand-eye Calibration Problem)
扫码查看
点击上方二维码区域，可以放大扫码查看
原文链接
NETL
NSTL
Springer Nature
Investigators publish new report on Robotics. According to news reporting out of Hangzhou, People’s Republic of China, by NewsRx editors, research stated, “The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem.” Financial support for this research came from Natural Science Foundation of Zhejiang Province. Our news journalists obtained a quote from the research from Hangzhou Dianzi University, “The dual quaternion optimization problem is decomposed to two quaternion optimization subproblems. The first quaternion optimization subproblem governs the rotation of the robot hand. It can be solved efficiently by the eigenvalue decomposition or singular value decomposition. If the optimal value of the first quaternion optimization subproblem is zero, then the system is rotationwise noiseless, i.e., there exists a ‘perfect’ robot hand motion which meets all the testing poses rotationwise exactly. In this case, we apply the regularization technique for solving the second subproblem to minimize the distance of the translation. Otherwise we apply the patching technique to solve the second quaternion optimization subproblem. Then solving the second quaternion optimization subproblem turns out to be solving a quadratically constrained quadratic program. In this way, we give a complete description for the solution set of hand-eye calibration problems. This is new in the hand-eye calibration literature.”
HangzhouPeople’s Republic of ChinaAsiaEmerging TechnologiesMachine LearningRobotRoboticsHangzhou Dianzi University
NETL
NSTL
Springer Nature
