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The mission of the robotic group (IRAS) of the Institute of Industrial Technologies and Automation of the National Research Council of Italy (ITIA-CNR) consists on the development of innovative robotic work cells, capable of responding cooperatively, safely, intelligently and largely autonomously in loosely structured environments, to be implemented both for industrial and service application. New capabilities to be displayed within unstructured environments are strongly tied to the control architectures and, most importantly, to the programming methodology. This work reviews a number of application developed by IRAS addressing the described architectural issues and related implemented solutions.

In this paper, the matrix equation AX=XB used for hand to sensor calibration of robot-mounted sensors is analyzed using a geometrical approach. The analysis leads to an original way to describe the properties of the equation and to find all of its solutions. It will also be highlighted why, when multiple instances A(i)X=XBi (i=1,2,...) of the equation are to be solved simultaneously, the system is overconstrained. Finally, singular cases are also discussed.