@inproceedings{3a3b1e46c5b34c2ca792025d6a081efd,
title = "A High-precision Calibration Method for Microsurgical Robots: Combining Iterative Least Squares and PSO-Optimized Support Vector Machine",
abstract = "Microsurgical robot calibration is essential for achieving high precision in surgical operations. This paper proposes a high-precision calibration approach combining Iterative Least Squares (ILS) for geometric error correction and Particle Swarm Optimization-optimized Least Squares Support Vector Machine (PSO-LSSVM) for non-geometric error compensation. Experimental results show that the proposed method reduces positioning errors from 3.2541 mm to 0.2310 mm through geometric calibration, achieving a 92.90 \% accuracy improvement, and further reduces the error to 0.0749 mm after non-geometric error compensation.",
keywords = "Robot Calibration, kinematics, microsurgical robot",
author = "Linjun Pang and Haiming Li and Peiyuan Gao and Haotian Li and He Zhang and Jie Zhao",
note = "Publisher Copyright: {\textcopyright} 2025 IEEE.; 11th International Conference on Mechatronics and Robotics Engineering, ICMRE 2025 ; Conference date: 24-02-2025 Through 26-02-2025",
year = "2025",
doi = "10.1109/ICMRE64970.2025.10976277",
language = "英语",
series = "2025 11th International Conference on Mechatronics and Robotics Engineering, ICMRE 2025",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "99--103",
booktitle = "2025 11th International Conference on Mechatronics and Robotics Engineering, ICMRE 2025",
address = "美国",
}