A 2-Dimensional Branch-and-Bound Algorithm for Hand-Eye Self-Calibration of SCARA Robots
Chengyu Tao Na Lv Shanben Chen Chengyu Tao Na Lv Shanben Chen
Due to the high positioning accuracy and relatively low prices, SCARA robots are widely used in industrial fields. The objective of this paper is to propose a hand-eye self-calibration algorithm for SCARA robots which could consider both accuracy and computational cost. The previous global optimal hand-eye calibration algorithms based on branch-and-bound (BnB) optimization is limited by their expe...