This is because we haven’t really got ‘rid’ of the relative pose (). However, we have made it constant. Now, will not change during the motion of the robot.
This enables us to move a robot to a set of different postures. For each one, can be expressed as a function of the remaining two variable, known poses:
- Robot to end-effector
- Camera to calibration object
and one constant, unknown pose .
With this set of equations, it is possible to utilize an optimization technique, such as Tsai's method, to calculate the desired pose .