shengwenbo125 / Robot_calibration_algorithm

Implimentation of paper 'POE-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model'

Robot_calibration_algorithm

This program pack is a implementation of three papers,

1. cali_1995.m : Kinematic calibration using the product of exponentials formula [1996,F.C.Park]
2. cali_2009.m : Improved and Modified Geometric Formulation of POE Based Kinematic Calibration of Serial Robots [2009,YunJiang Lou,Yuanqing Wu]
3. cali_2016.m : POE-Based Robot Kinematic Calibration Using Axis Configuration Space and the Adjoint Error Model [2016,Yuanqing Wu,Cheng Li]