A complete and parametrically continuous kinematic model for robot manipulators

A kinematic modeling convention for robot manipulators is proposed. The kinematic model has complete and parametrically continuous (CPC) properties. The parametric continuity of the CPC model is achieved by adopting a singularity-free line representation. Completeness is achieved through adding two link parameters which allow arbitrary placement of link coordinate frames. The transformation from the base frame to the world frame and from the tool frame to the last link frame can be modeled with the same convention as that used for internal link transformations. These parameters make the CPC model particularly useful for robot calibration