Liao Wu, Jiaole Wang, Lin Qi, Keyu Wu, Hongliang Ren, Max Q.-H. Meng. Simultaneous Hand-Eye, Tool-Flange, and Robot-Robot Calibration for Comanipulation by Solving the AXB=YCZ Problem. IEEE Transactions on Robotics, 32(2):413-428, 2016. [doi]
Abstract is missing.