Kinematics calibration

[Chunting]

Diagnose where the error is from:

• [x] Re-run the hand-eye calibration in a larger range: Error from hand-eye calibration may affect the absolute accuracy;

• [x] Kinematic calibration: Let the robot move a distance and compare the data from atracsys and robot. If the kinematic model is accurate, the relative distances should be consistent.

• [x] Calculate the relative pose between the marker fixed on the frame and the robot base :

• The first thing is to figure out the mathematic thing, write down the equation AX=XB;

• It should go the same way with hand-eye calibration, work out the input matrix/vector

[Chunting]

Probably it's caused by the inaccuracy of vrep model( also the cinematic model). The environment should be reset based on the new marker on the frame and then calibrate the relative pose/position and even kinematics model of the robot.

[Chunting]

This error is caused by the hand-eye calibration, since the position of attracsys in vrep scene was blocked before. The following is the new chart. They match well.