A modular reconfigurable workcell (100, 200, 300, 400) comprising: plural modular docking bays (104a to 104f) that support attachment of one or more docking modules (212, 600, 700, 800) in a fixed geometric configuration, wherein respective modular docking bays include a plurality of electrical connections (254, 256, 258, 260) for a variety of power and communication busses of the one or more docking modules to be attached, and wherein the one or more docking modules provide an electrical and mechanical interface between a respective peripheral (214, 304, 308, 306, 302, 404, 408) and the workcell; an electrical subsystem for coupling the communication busses between the plural modular docking bays and providing power circuitry to the plural modular docking bays; one or more structural features (608, 706) in the plural modular docking bays configured to enable insertion of the one or more docking modules in the fixed geometric configuration with a uniquely defined orientation relative to the workcell; and characterized in that the plural modular docking bays are provided on a surface of the workcell, and in that the modular reconfigurable workcell comprises a processor for determining calibration parameters for a current configuration of the workcell based on a location and the orientation of plural docking modules attached to the plural modular docking bays and based on an identification of attached peripherals corresponding to the plural docking modules, wherein the calibration parameters include distances between the attached peripherals and orientations and poses between the attached peripherals to enable the attached peripherals to interact with each other. plural modular docking bays (104a to 104f) that support attachment of one or more docking modules (212, 600, 700, 800) in a fixed geometric configuration, wherein respective modular docking bays include a plurality of electrical connections (254, 256, 258, 260) for a variety of power and communication busses of the one or more docking modules to be attached, and wherein the one or more docking modules provide an electrical and mechanical interface between a respective peripheral (214, 304, 308, 306, 302, 404, 408) and the workcell; an electrical subsystem for coupling the communication busses between the plural modular docking bays and providing power circuitry to the plural modular docking bays; one or more structural features (608, 706) in the plural modular docking bays configured to enable insertion of the one or more docking modules in the fixed geometric configuration with a uniquely defined orientation relative to the workcell; and characterized in that the plural modular docking bays are provided on a surface of the workcell, and in that the modular reconfigurable workcell comprises a processor for determining calibration parameters for a current configuration of the workcell based on a location and the orientation of plural docking modules attached to the plural modular docking bays and based on an identification of attached peripherals corresponding to the plural docking modules, wherein the calibration parameters include distances between the attached peripherals and orientations and poses between the attached peripherals to enable the attached peripherals to interact with each other.