Parameters ---------- joint_positions: list List of numpy arrays where each array has a shape of 1xN_JOINTS.

Solve the kinematic calibration problem via a iterative least squares method where at each iteration the screw axes are updated to minimize t

Matrix of bases. Each B is a matrix mapping 4 parameters to a twist about a given screw axis. The minimal parametrization of a joint

Compute screw definitions for use with the PoE formula. Returns -------- A list of joint screw axes.

Compute statistics on the results of the iteration. Returns -------- A dictionary containing the fol

Returns -------- A SE3 object defining the pose of the robot end-effector when all joint positions are zero.

Build a matrix of elements that will be multiplied by the joint pose perturbations such as to account for the TCP error. See equatio

Add the results of an iteration to the list of iteration results. Parameters ----------- iteration_result: Iteration

Compute the uncertainty estimate of the calibration. Parameters ----------- A_all: numpy.ndarray

Compute the forward kinematics of the i-th link. Parameters ----------- link_index: int The index of the

Compute the screw axes for use with the PoE formula. Parameters ----------- calibration_result: CalibrationResult

Compute the RPY-XYZ format of the joint definitions for use in a URDF file. In a URDF file, each rotary joint is defined by its axis

Compute the RPY-XYZ format of the joint definitions for use in a URDF file. Parameters ----------- calibration_resul

Print the screw axes for use with the PoE formula. Parameters ----------- calibration_result: CalibrationResult

Print the joint definitions for use in a URDF file. Parameters ----------- calibration_result: CalibrationResult

Update the twist definitions of the joints such as to account for the error in the EE pose. Parameters ----------- p

Initialize the calibration result. Parameters ----------- robot_model: roboticstoolbox.Robot The robot m

Initialize the iteration result. Parameters ---------- joint_screw_definitions: list

Build lists of links and joints from the roboticstoolbox.Robot model and the selected end effector, assuming that the robot is a seri