How to solve for unknown robot transformation matrix using optimisation?

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Ahmad Adee
Ahmad Adee 2018-5-26
I have three matrices, Tbase, TEE and Tref. Tbase and Tref are known with nx4 dimension (n= no of experiments>16). Tbase has all unknown elements (4x4), total 16 unknowns. The relation between them is.
Tbase*TEE=Tref and i want to minimise the following function. f = Tbase*TEE-Tref What is the best way? Any related example?

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