{"id":"https://openalex.org/W1972959685","doi":"https://doi.org/10.1002/rob.4620040107","title":"Generalized joint model for robot manipulator kinematic calibration and compensation","display_name":"Generalized joint model for robot manipulator kinematic calibration and compensation","publication_year":1987,"publication_date":"1987-02-01","ids":{"openalex":"https://openalex.org/W1972959685","doi":"https://doi.org/10.1002/rob.4620040107","mag":"1972959685"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040107","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040107","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5051062714","display_name":"Morris R. Driels","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Morris R. Driels","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, Texas 77843","Department of Mechanical Engineering , Texas A&M University , College Station, Texas, 77843"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, Texas 77843","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Texas A&M University , College Station, Texas, 77843","institution_ids":["https://openalex.org/I91045830"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066974637","display_name":"Uday S. Pathre","orcid":null},"institutions":[{"id":"https://openalex.org/I91045830","display_name":"Texas A&M University","ror":"https://ror.org/01f5ytq51","country_code":"US","type":"education","lineage":["https://openalex.org/I91045830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Uday S. Pathre","raw_affiliation_strings":["Department of Mechanical Engineering, Texas A&M University, College Station, Texas 77843","Department of Mechanical Engineering , Texas A&M University , College Station, Texas, 77843"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Texas A&M University, College Station, Texas 77843","institution_ids":["https://openalex.org/I91045830"]},{"raw_affiliation_string":"Department of Mechanical Engineering , Texas A&M University , College Station, Texas, 77843","institution_ids":["https://openalex.org/I91045830"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5051062714"],"corresponding_institution_ids":["https://openalex.org/I91045830"],"apc_list":null,"apc_paid":null,"fwci":7.9576,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.97553735,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":"4","issue":"1","first_page":"77","last_page":"114"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9965000152587891,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9876000285148621,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8387961387634277},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6650363206863403},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6131652593612671},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5865069031715393},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5307837724685669},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5278518199920654},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.5275596976280212},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5021255016326904},{"id":"https://openalex.org/keywords/transformation","display_name":"Transformation (genetics)","score":0.4912819266319275},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.46291664242744446},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.455382376909256},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4131728410720825},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.41275644302368164},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3584548234939575},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3211228847503662},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3137003779411316},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07492214441299438},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0726819634437561},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.07022184133529663},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.05253669619560242}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8387961387634277},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6650363206863403},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6131652593612671},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5865069031715393},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5307837724685669},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5278518199920654},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.5275596976280212},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5021255016326904},{"id":"https://openalex.org/C204241405","wikidata":"https://www.wikidata.org/wiki/Q461499","display_name":"Transformation (genetics)","level":3,"score":0.4912819266319275},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.46291664242744446},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.455382376909256},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4131728410720825},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.41275644302368164},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3584548234939575},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3211228847503662},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3137003779411316},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07492214441299438},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0726819634437561},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.07022184133529663},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.05253669619560242},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040107","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040107","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","score":0.7400000095367432,"display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":10,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1977866635","https://openalex.org/W2011948192","https://openalex.org/W2051377961","https://openalex.org/W2063312206","https://openalex.org/W2121885056","https://openalex.org/W2246023205","https://openalex.org/W3151898464","https://openalex.org/W4230620014","https://openalex.org/W4243737224"],"related_works":["https://openalex.org/W2145154791","https://openalex.org/W1997122515","https://openalex.org/W2393977490","https://openalex.org/W2038930466","https://openalex.org/W2361688797","https://openalex.org/W2366856298","https://openalex.org/W2166323405","https://openalex.org/W2973099332","https://openalex.org/W2376007266","https://openalex.org/W2005706483"],"abstract_inverted_index":{"Abstract":[0],"A":[1],"generalized":[2,60,66],"model":[3,67],"that":[4],"goes":[5],"beyond":[6],"the":[7,26,48],"usual":[8],"assumption":[9],"of":[10,23,37,47],"\u201cideal\u201d":[11],"joint":[12,18],"behavior":[13],"is":[14,39,63],"proposed.":[15],"The":[16,29,55,65],"\u201creal\u201d":[17],"has":[19],"five":[20],"ancillary":[21],"degrees":[22],"freedom":[24],"besides":[25],"dominant":[27],"motion.":[28],"resulting":[30],"manipulator":[31,61,71],"transformation":[32,62],"with":[33],"its":[34],"greater":[35],"degree":[36],"sophistication":[38],"expected":[40],"to":[41,52,57],"help":[42],"in":[43,70],"calibration":[44],"and":[45,74],"compensation":[46],"various":[49],"kinematic":[50],"contributions":[51],"robot":[53],"inaccuracy.":[54],"procedure":[56],"compute":[58],"this":[59],"presented.":[64],"also":[68],"results":[69],"differential":[72],"relationships":[73],"these":[75],"are":[76],"discussed.":[77]},"counts_by_year":[{"year":2018,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}