一种机器人工具坐标系标定方法

刘成业，李文广，马世国，郅健斌，刘广亮，吴昊

A robot tool frame calibration method

LIU Cheng-Ye, LI Wen-Guang, MA Shi-Guo, ZHI Jian-Bin, LIU Guang-Liang, WU Hao

J4 . 2012, (1): 69 -74 . DOI: 10.3976/j.issn.1002-4026.2012.01.015