Kinematic calibration of modular reconfigurable robots using product-of-exponentials formula

Automatic Modeling for Modular Reconfigurable Robotic Systems: Theory and Practice

“…Computer simulation and actual experiment on the modular robot systems described by Chen & Yang (1997) and Chen et al (2001) have shown that this calibration method can improve the accuracy in end-effector positioning by up to two orders of magnitudes. …”

“…The associated Lie algebraic structure can simplify the construction of the differentials of the forward-kinematic function required for numerical inverse solutions. The POE representation can also avoid the singularity conditions that frequently occur in the kinematic calibration formulated by the D-H method (Chen & Yang 1997;Chen et al 2001). Thus, it provides us with a uniform and well-behaved method for handling the inverse kinematics of both calibrated and uncalibrated robot systems.…”

Screw and Lie group theory in multibody dynamics

“…Hence also the sensitivity withe respect to the MBS geometry can be expressed in closed form [52]. This fact has been applied to robot calibration [21,22], where the POE accounts for geometric imperfections to be identified.…”

A combinatorial search method for the quasi-static payload capacity of serial modular reconfigurable robots

“…Therefore, the joint offset lengths must be taken into account in the MRR kinematic and kinetoelastic models. The methods introduced in this paper can also be applied to other MRR modules with longer joint offsets such as those found in [4,20,21]. Furthermore, the order of module assembly (from the module located at base of the robot to the tip module) is assumed to remain constant due to the fact that the modules located near the base should be larger in size (and hence stiffer) than the modules located near the robot's tip.…”

“…has been conducted for MRR kinematics [1] and rigid-body dynamic models [2]. Other research involved automated kinematic calibration methods to improve the pose accuracy of multiple MRR configurations [3,4]. However, little attention has been paid to the analysis of serial MRRs with modules that exhibit inherent structural flexibility.…”