{"id":"https://openalex.org/W4245081424","doi":"https://doi.org/10.1017/s0263574700019810","title":"Kinematic calibration using the product of exponentials formula","display_name":"Kinematic calibration using the product of exponentials formula","publication_year":1996,"publication_date":"1996-07-01","ids":{"openalex":"https://openalex.org/W4245081424","doi":"https://doi.org/10.1017/s0263574700019810"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700019810","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019810","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5090599475","display_name":"Koichiro Okamura","orcid":"https://orcid.org/0000-0003-4634-7715"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Koichiro Okamura","raw_affiliation_strings":["Department of Precision Machinery Engineering, The University of Tokyo, 7\u20133\u20131 Hongo, Bunkyo-ku, Tokyo 113 (Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Precision Machinery Engineering, The University of Tokyo, 7\u20133\u20131 Hongo, Bunkyo-ku, Tokyo 113 (Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026905450","display_name":"F.C. Park","orcid":null},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"F.C. Park","raw_affiliation_strings":["Mechanical Design and Production Engineering Seoul National University, Kwanak-Ku Shinlim-Dong San 56\u20131, Seoul 151\u2013742, (Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Mechanical Design and Production Engineering Seoul National University, Kwanak-Ku Shinlim-Dong San 56\u20131, Seoul 151\u2013742, (Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":185,"citation_normalized_percentile":{"value":0.55792725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"14","issue":"4","first_page":"415","last_page":"421"},"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9912999868392944,"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":0.8971039056777954},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.569682240486145},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5531052947044373},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.5129677653312683},{"id":"https://openalex.org/keywords/product","display_name":"Product (mathematics)","score":0.5012247562408447},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.49334731698036194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.4441244602203369},{"id":"https://openalex.org/keywords/chain","display_name":"Chain (unit)","score":0.4412260055541992},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4079839587211609},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3905804753303528},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.3825831115245819},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.2824699878692627},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.26363033056259155},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.14893436431884766},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10699272155761719},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.06457769870758057}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8971039056777954},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.569682240486145},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5531052947044373},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.5129677653312683},{"id":"https://openalex.org/C90673727","wikidata":"https://www.wikidata.org/wiki/Q901718","display_name":"Product (mathematics)","level":2,"score":0.5012247562408447},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.49334731698036194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.4441244602203369},{"id":"https://openalex.org/C199185054","wikidata":"https://www.wikidata.org/wiki/Q552299","display_name":"Chain (unit)","level":2,"score":0.4412260055541992},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4079839587211609},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3905804753303528},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.3825831115245819},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.2824699878692627},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.26363033056259155},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.14893436431884766},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10699272155761719},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.06457769870758057},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700019810","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700019810","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W559977261","https://openalex.org/W1497662434","https://openalex.org/W1582353822","https://openalex.org/W1996092409","https://openalex.org/W2023398310","https://openalex.org/W2142517568","https://openalex.org/W2153326975","https://openalex.org/W4240743460","https://openalex.org/W4256407389"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W1971821535","https://openalex.org/W2811382984","https://openalex.org/W2119719871","https://openalex.org/W2375200650","https://openalex.org/W2366276599","https://openalex.org/W1880935057","https://openalex.org/W2983080394","https://openalex.org/W4251668682"],"abstract_inverted_index":{"SUMMARY":[0],"We":[1],"present":[2],"a":[3,32,41,123,136],"method":[4],"for":[5,102,128],"kinematic":[6,51,61,108,114,125],"calibration":[7,126],"of":[8,16,27,34,45,105],"open":[9,29,130,138],"chain":[10,30,131,139],"mechanisms":[11],"based":[12,39,53],"on":[13,40,54],"the":[14,24,50,55,60,64,72,81,85,103,106,113,118],"product":[15,33],"exponentials":[17],"(POE)":[18],"formula.":[19],"The":[20],"POE":[21,65,119],"formula":[22,66],"represents":[23],"forward":[25,107],"kinematics":[26],"an":[28],"as":[31],"matrix":[35],"exponentials,":[36],"and":[37],"is":[38,94],"modern":[42],"geometric":[43],"interpretation":[44],"classical":[46],"screw":[47],"theory.":[48],"Unlike":[49],"representations":[52],"Denavit-":[56],"Hartenberg":[57],"(D-H)":[58],"parameters,":[59],"parameters":[62,87],"in":[63,71,84],"vary":[67],"smoothly":[68],"with":[69,110,135],"changes":[70],"joint":[73],"axes,":[74],"ad":[75],"hoc":[76],"methods":[77],"designed":[78],"to":[79,112],"address":[80],"inherent":[82],"singularities":[83],"D-H":[86],"are":[88,140],"therefore":[89],"unnecessary.":[90],"Another":[91],"important":[92],"advantage":[93],"that":[95],"simple":[96],"closed-form":[97],"expressions":[98],"can":[99],"be":[100],"obtained":[101],"derivatives":[104],"equations":[109],"respect":[111],"parameters.":[115],"After":[116],"introducing":[117],"formula,":[120],"we":[121],"derive":[122],"least-squares":[124],"algorithm":[127],"general":[129],"mechanisms.":[132],"Simulation":[133],"results":[134],"6-axis":[137],"presented.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":18},{"year":2023,"cited_by_count":23},{"year":2022,"cited_by_count":16},{"year":2021,"cited_by_count":16},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":17},{"year":2016,"cited_by_count":11},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":11},{"year":2013,"cited_by_count":8}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
