This study presents a two-level closed-loop calibration framework that combines L2-norm displacement feedback, normalized angular increment integration, relay control with a tolerance deadband, and zero-velocity-based adaptive covariance switching that can reduce both motion-dependent odometry scale errors and stationa...
During the construction phase of a high-intensity proton accelerator, alignment measurement is required for key equipment, such as the bunch compressor kicking cavity, with a stringent alignment accuracy requirement of better than 0.05 mm. Conventionally, a laser tracker is used to measure the three-dimensional coordin...
Mobile robotic platforms offer a flexible alternative to fixed manipulators for non-destructive evaluation (NDE) of large aerospace structures, but their base-positioning accuracy and how that accuracy should inform deployment have not been assessed under a common, externally referenced protocol. This work presents a l...
Objective: To evaluate the effect of manipulator calibration accuracy and the geometric arrangement of calibration points on the resulting target-reaching accuracy of a robotic surgical navigation system. Materials and Methods. The study was conducted using an anthropomorphic head phantom equipped with a monocular opt...
Accurate robotic positioning is essential in automated marking because residual pose error directly shifts the permanent mark. This study presents a one-step vision-based residual error compensation method that measures the displacement between the target and the marking-tool position after the initial robot motion, tr...
To improve the measurement accuracy of a microelectromechanical system (MEMS) inertial measurement unit (IMU) array, this article proposes an angular-velocity-constrained left-invariant system-level backtracking calibration method. A simplified three-position calibration path is designed using a dual-axis turntable to...
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