{"id":"https://openalex.org/W1979089747","doi":"https://doi.org/10.1002/rob.4620080208","title":"An improved method for on\u2010line calculation and compensation of the static deflection at a robot end\u2010effector","display_name":"An improved method for on\u2010line calculation and compensation of the static deflection at a robot end\u2010effector","publication_year":1991,"publication_date":"1991-04-01","ids":{"openalex":"https://openalex.org/W1979089747","doi":"https://doi.org/10.1002/rob.4620080208","mag":"1979089747"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620080208","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080208","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/A5073986784","display_name":"Paul Lin","orcid":"https://orcid.org/0000-0002-3071-3509"},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Paul P. Lin","raw_affiliation_strings":["Mechanical Engineering Department Cleveland State University Cleveland, OH 44115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department Cleveland State University Cleveland, OH 44115","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109947980","display_name":"Hsiang\u2010Dih Chiang","orcid":null},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hsiang\u2010Dih Chiang","raw_affiliation_strings":["Mechanical Engineering Department Cleveland State University Cleveland, OH 44115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department Cleveland State University Cleveland, OH 44115","institution_ids":["https://openalex.org/I102607778"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054836274","display_name":"Xiu Xun Cui","orcid":null},"institutions":[{"id":"https://openalex.org/I102607778","display_name":"Cleveland State University","ror":"https://ror.org/002tx1f22","country_code":"US","type":"education","lineage":["https://openalex.org/I102607778"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xiu Xun Cui","raw_affiliation_strings":["Mechanical Engineering Department Cleveland State University Cleveland, OH 44115"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department Cleveland State University Cleveland, OH 44115","institution_ids":["https://openalex.org/I102607778"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I102607778"],"apc_list":null,"apc_paid":null,"fwci":0.7204,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.71197563,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"8","issue":"2","first_page":"267","last_page":"288"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9972000122070312,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9940999746322632,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/deflection","display_name":"Deflection (physics)","score":0.8760243654251099},{"id":"https://openalex.org/keywords/cantilever","display_name":"Cantilever","score":0.5829430222511292},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5495719313621521},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5362796783447266},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.5268971920013428},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.4363752603530884},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4237518906593323},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.42319566011428833},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3644775152206421},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.345420241355896},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.31275177001953125},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2102985382080078},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.19208267331123352}],"concepts":[{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.8760243654251099},{"id":"https://openalex.org/C141354745","wikidata":"https://www.wikidata.org/wiki/Q17227","display_name":"Cantilever","level":2,"score":0.5829430222511292},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5495719313621521},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5362796783447266},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.5268971920013428},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.4363752603530884},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4237518906593323},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.42319566011428833},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3644775152206421},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.345420241355896},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.31275177001953125},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2102985382080078},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.19208267331123352},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1002/rob.4620080208","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620080208","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"},{"id":"pmh:oai:engagedscholarship.csuohio.edu:enme_facpub-1014","is_oa":false,"landing_page_url":"https://engagedscholarship.csuohio.edu/enme_facpub/8","pdf_url":null,"source":{"id":"https://openalex.org/S4306400889","display_name":"EngagedScholarship @ Cleveland State University (Cleveland State University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I102607778","host_organization_name":"Cleveland State University","host_organization_lineage":["https://openalex.org/I102607778"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Mechanical Engineering Faculty Publications","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1582353822","https://openalex.org/W1606858750","https://openalex.org/W1996092409","https://openalex.org/W2002341231","https://openalex.org/W2022766689","https://openalex.org/W2030658406","https://openalex.org/W2136958581","https://openalex.org/W2246023205"],"related_works":["https://openalex.org/W2883550785","https://openalex.org/W2890977713","https://openalex.org/W2123089778","https://openalex.org/W1980749193","https://openalex.org/W2113391978","https://openalex.org/W4366570393","https://openalex.org/W4294739349","https://openalex.org/W2372176723","https://openalex.org/W3114149462","https://openalex.org/W2053228135"],"abstract_inverted_index":{"Abstract":[0],"Traditionally,":[1],"robotic":[2,37,71,135],"deflection":[3,30,63,68,108,116,131,139,151],"analysis":[4,152],"for":[5,169],"a":[6,22,32,36,46,70,88,163],"low\u2010weight":[7],"robot":[8,161],"has":[9],"been":[10],"performed":[11],"based":[12,143],"on":[13,134,144],"an":[14,84],"assumption":[15],"that":[16,59,128],"each":[17],"link":[18,62],"is":[19,40,48,54,140,153],"treated":[20],"as":[21],"cantilever":[23],"beam,":[24],"which":[25],"leads":[26],"to":[27,76,102,115],"no":[28],"angular":[29,67],"at":[31,50,109],"joint.":[33],"In":[34],"practice,":[35],"intermediate":[38],"joint":[39,73],"linearly":[41],"and":[42,96,162,172],"angularly":[43],"deflected":[44],"when":[45],"load":[47],"applied":[49],"the":[51,60,66,77,97,106,110,129,145],"end\u2010effector.":[52,111],"It":[53],"found":[55],"in":[56],"this":[57],"study":[58,125],"additional":[61],"resulting":[64],"from":[65],"of":[69,90,99],"revolute":[72],"substantially":[74],"contributes":[75],"end\u2010effector's":[78,130],"total":[79],"deflection.":[80],"This":[81],"article":[82],"presents":[83],"improved":[85],"method":[86],"via":[87],"combination":[89],"classical":[91],"beam":[92],"theory,":[93],"energy":[94],"methods":[95],"concepts":[98],"differential":[100],"relationships":[101],"more":[103],"accurately":[104],"calculate":[105],"static":[107],"A":[112,158],"systematic":[113],"approach":[114],"calculation":[117,173],"through":[118],"three":[119],"different":[120],"Jacobians":[121],"are":[122,167],"presented.":[123],"The":[124,138,149],"also":[126],"shows":[127],"heavily":[132],"depends":[133],"arm":[136],"configurations.":[137],"then":[141],"compensated":[142],"selected":[146],"optimum":[147],"configuration.":[148],"theoretical":[150],"verified":[154],"by":[155],"experimental":[156],"results.":[157],"planar":[159],"two\u2010link":[160],"six\u2010degree\u2010of\u2010freedom":[164],"Elbow":[165],"Manipulator":[166],"used":[168],"numerical":[170],"illustration":[171],"procedure.":[174]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-08-18T07:49:30.821534","created_date":"2016-06-24T00:00:00"}
