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With the development of industrial automation and precision surgery, robotic arm’s high-precision motion control is critical. However, manufacturing errors, assembly deviations, and parameter drift cause actual motion accuracy to deviate from the theoretical model. This study proposes a robotic arm parameter calibration scheme based on error modeling and the least squares method. It establishes a linearized error model via forward kinematics analysis and derives the Jacobian matrix. A dual-view visual system collects end-effector positional deviations to construct a least squares optimization for parameter corrections. Experimental results show this method effectively reduces positioning error, with maximum calibration errors within \(140\ \upmu \text {m}\) (XZ direction) and \(130\ \upmu \text {m}\) (YZ direction). These results meet the stringent accuracy requirements of ophthalmic surgical robots, demonstrating engineering value for precision microsurgical systems with RCM mechanisms and constrained workspaces.

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Kinematic Parameter Calibration for Ophthalmic Surgical Robots with Cameras

  • 会议论文

  • 发表日期：

    2026年

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  • Yanlin Li,
  • Kaiyuan Tan,
  • Zhaoyin Tian,
  • Rihui Song

摘要

With the development of industrial automation and precision surgery, robotic arm’s high-precision motion control is critical. However, manufacturing errors, assembly deviations, and parameter drift cause actual motion accuracy to deviate from the theoretical model. This study proposes a robotic arm parameter calibration scheme based on error modeling and the least squares method. It establishes a linearized error model via forward kinematics analysis and derives the Jacobian matrix. A dual-view visual system collects end-effector positional deviations to construct a least squares optimization for parameter corrections. Experimental results show this method effectively reduces positioning error, with maximum calibration errors within \(140\ \upmu \text {m}\) (XZ direction) and \(130\ \upmu \text {m}\) (YZ direction). These results meet the stringent accuracy requirements of ophthalmic surgical robots, demonstrating engineering value for precision microsurgical systems with RCM mechanisms and constrained workspaces.