Event
Physics-Constrained Calibration Improves Puncture Robot Arm Accuracy
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Prabhu Nithin Gollapudi and co-authors propose a boundary-constrained kinematic calibration method to improve the positioning accuracy of a 6-DOF robot puncture-guidance arm. 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 decreased from 3.422 mm to 0.690 mm, an improvement of 79.8%; in bench hardware experiments, trajectory-validation RMSE was 0.865 mm and coordinate-grid validation RMSE was 0.610 mm. The authors state that these results show physics-constrained kinematic calibration can improve robotic needle-targeting accuracy, laying a high-precision foundation for future clinical application.
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- Physically Constrained Kinematic Calibration for High-Precision Robotic Needle Guidance
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.
arXiv cs.RO ·
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