Abstract
We present a method for kinematic calibration of open chain mechanisms based on the product of exponentials (POE) formula. The POE formula represents the forward kinematics of an open chain as a product of matrix exponentials, and is based on a modern geometric interpretation of classical screw theory. Unlike the kinematic representations based on the Denavit-Hartenberg (D-H) parameters, the kinematic parameters in the POE formula vary smoothly with changes in the joint axes; ad hoc methods designed to address the inherent singularities in the D-H parameters are therefore unnecessary. After introducing the POE formula, we derive a least-squares kinematic calibration algorithm for general open chain mechanisms.
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© 1994 Springer Science+Business Media Dordrecht
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Park, F.C., Okamura, K. (1994). Kinematic Calibration and the Product of Exponentials Formula. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_12
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DOI: https://doi.org/10.1007/978-94-015-8348-0_12
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
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