Kinematics Calibration for Robotic Tooth Preparation

Kinematic calibration methods to improve the accuracy of robotic tooth preparation based on Modified Denavit-Hartenberg (MDH) parameters and local Product of Exponential (POE) formulation.

• Motivation
  • Addressing the need for precise robotic tooth preparation by improving accuracy within the robot’s workspace.
• Contributions
  • Designed and implemented a calibration point generation algorithm to enhance accuracy of robot in tooth preparation workspace.
  • Implemented a rotary joint axis estimation algorithm [1].
  • Developed a kinematic calibration algorithm based on Modified Denavit-Hartenberg (MDH) parameters, incorporating an additional parameter 𝛽 2.
  • Implemented kinematics calibration algorithm based on local Product of Exponential (POE) formulation [2] [3].
• Skills:
  • Robot Kinemaitics, Optimization
  • Python, MATLAB