Analytical Parameter Conversion of CPC and POE Models

Oleg Sumenkov

RA-L 20260 citations

Analytical Parameter Conversion of CPC and POE Models

Abstract

This paper presents an analytical framework for parameter conversion between Complete and Parametrically Continuous (CPC) and Product of Exponentials (POE) kinematic models of serial-chain mechanisms. The approach, grounded in Lie group and algebra theory, formulates and proves three key lemmas to enable exact POE-to-CPC parameter conversion. Building upon established POE-DH and CPC-DH transitions, the proposed framework facilitates flexible model selection based on application-specific needs, independent of the initial parameterization. Primarily designed for robot calibration, this method also serves as a unifying tool for comparing and analyzing calibration results across different kinematic conventions. The framework's effectiveness is demonstrated through numerical validation on the PUMA 560 robot, confirming its accuracy and practical applicability.

BibTeX

@inproceedings{ral2026_analyticalparame,
  title = {Analytical Parameter Conversion of CPC and POE Models},
  author = {Oleg Sumenkov},
  booktitle = {RA-L 2026},
  year = {2026}
}