Lei Sun Jingtai Liu Weiwei Sun Shuihua Wu Xingbo Huang Geometry-based Robot Calibration Method. 1907-1912 2004 conf/icra/2004 ICRA http://dx.doi.org/10.1109/ROBOT.2004.1308102 db/conf/icra/icra2004-2.html#SunLWWH04