# Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/rfk3z3mriy7uwqkx7848fx952
- Original: https://arxiv.org/abs/2610.41429

## Summary

The paper proposes a bound-constrained kinematic calibration method to improve the positioning accuracy of a 6-DoF robotic needle-guidance manipulator. The method constrains a 19-parameter geometric identification model with physically plausible parameter ranges, treating the bounds as active optimization constraints to mitigate parameter coupling and overfitting. In simulation, end-effector RMSE dropped from 3.422 mm to 0.690 mm (a 79.8% improvement); in benchtop experiments, trajectory validation RMSE was 0.865 mm and coordinate grid validation RMSE was 0.610 mm.