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POE-based Kinematic Calibration for Serial Robots Using Left-Invariant Error Representation and Decomposed Iterative Method

Qi Huang,Xuanchen Zhang,Hongtao Pan, Kun Lu,Yong Cheng

ROBOTICS AND AUTONOMOUS SYSTEMS（2025）

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Key words
Kinematic calibration,Left-invariant error representation,Minimal error parameters,Decomposed iterative method,Product-of-exponentials
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