Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments. Wu, Y., Klimchik, A., Caro, S., Furet, B., & Pashkevich, A. Robotics and Computer-Integrated Manufacturing, 35:151-168, 2015.
bibtex   
@article{Klimchik2015_Enhanced_Partial_Pose,
    author = {Wu, Y. and Klimchik, A. and Caro, S. and Furet, B. and Pashkevich, A.},
    journal = {Robotics and Computer-Integrated Manufacturing},
    pages = {151-168},
    title = {Geometric calibration of industrial robots using enhanced partial pose measurements and design of experiments},
    volume = {35},
    year = {2015}
}

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