Scientists propose efficient kinematic calibration method for articulated robots

Differential geometry has been employed in previous studies to depict the finite and instantaneous motions of rigid bodies. The product of exponential (POE) formula based on differential geometry has been developed to describe the kinematics of articulated robots. This model can efficiently avoid model singularities and improve the robustness of parameter identification, compared with traditional methods based on Denavit-Hartenberg conventions.