Modular Reconfigurable Workcell for Quick Connection of Peripherals

A method comprising:

• determining a location and an orientation of one or more docking modules attached to one or more modular docking bays of a workcell, wherein the one or more modular docking bays are provided on a surface of the workcell and support attachment of the one or more docking modules in a fixed geometric configuration, wherein the one or more docking modules provide an electrical and mechanical interface between a respective peripheral and the workcell;
• determining, by one or more processors of the workcell, an identification of attached peripherals of the one or more docking modules, wherein the identification indicates geometry information of the attached peripherals on the one or more docking modules useful for determining distances between the attached peripherals;
• and
• based on the location and the orientation of the docking modules and on the identification of the attached peripherals, determining a geometric calibration of attached peripherals, wherein the geometric calibration indicates the distances between the attached peripherals and poses of the attached peripherals that enable the attached peripherals to interact with each other.