Kinematic calibration using the product of exponentials formula

We preaent a method for l:inematic calibration of open chain mechaniama baaed on the product of exponentia.ls (POE} formula. The POE formula repreaenta the forward l:inematica of an open chain aa a product of matrix exponentiala, and is based on a modern geometric interpretation of claasical screw theory. Unlike the l:inematic representationa based on the Denavit-Hartenberg (D-H) parameters, the l:inematic 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 l:inematic calibration algorithm for general open chain mechanisms.