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Cited article:

A Precise Calibration Method for the Robot-Assisted Percutaneous Puncture System

Jinbiao Li, Minghui Li, Quan Zeng, Cheng Qian, Tao Li and Shoujun Zhou
Electronics 12 (23) 4857 (2023)
https://doi.org/10.3390/electronics12234857

Error Modeling in Distance and Rotation for Self-Calibration of Space Robots on Orbit

Qingxuan Jia, Shiwei Wang, Gang Chen and Hanxu Sun
International Journal of Aerospace Engineering 2019 1 (2019)
https://doi.org/10.1155/2019/8349048

Complete relative pose error model for robot calibration

Shiwei Wang, Qingxuan Jia, Gang Chen and Dan Liu
Industrial Robot: the international journal of robotics research and application (2019)
https://doi.org/10.1108/IR-11-2018-0244