{"id":"https://openalex.org/W2130998373","doi":"https://doi.org/10.1017/s0263574700020026","title":"Kinematic Calibration of Industrial Hydraulic Manipulators","display_name":"Kinematic Calibration of Industrial Hydraulic Manipulators","publication_year":1996,"publication_date":"1996-09-01","ids":{"openalex":"https://openalex.org/W2130998373","doi":"https://doi.org/10.1017/s0263574700020026","mag":"2130998373"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574700020026","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700020026","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/A5042422244","display_name":"M. Khoshzaban","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"M. Khoshzaban","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC, V6T 1Z4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC, V6T 1Z4, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064660803","display_name":"Farrokh Sassani","orcid":"https://orcid.org/0000-0001-8913-5224"},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"F. Sassani","raw_affiliation_strings":["Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC, V6T 1Z4, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"Department of Mechanical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC, V6T 1Z4, Canada","institution_ids":["https://openalex.org/I141945490"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051857042","display_name":"P. D. Lawrencet","orcid":null},"institutions":[{"id":"https://openalex.org/I141945490","display_name":"University of British Columbia","ror":"https://ror.org/03rmrcq20","country_code":"CA","type":"education","lineage":["https://openalex.org/I141945490"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"P. D. Lawrencet","raw_affiliation_strings":["Department of Electrical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","\u2020 Department of Electrical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada","institution_ids":["https://openalex.org/I141945490"]},{"raw_affiliation_string":"\u2020 Department of Electrical Engineering, The University of British Columbia, 2324 Main Mall, Vancouver BC V6T 1Z4 (Canada)","institution_ids":["https://openalex.org/I141945490"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I141945490"],"apc_list":null,"apc_paid":null,"fwci":3.3381,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.92230611,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":null,"biblio":{"volume":"14","issue":"5","first_page":"541","last_page":"551"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9991999864578247,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9905999898910522,"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":0.8222671747207642},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6729984283447266},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5796746015548706},{"id":"https://openalex.org/keywords/linkage","display_name":"Linkage (software)","score":0.5419406294822693},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5264626145362854},{"id":"https://openalex.org/keywords/mobile-manipulator","display_name":"Mobile manipulator","score":0.5219825506210327},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.4890376031398773},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4445737302303314},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.44421133399009705},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.42917656898498535},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4212993085384369},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.41985467076301575},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.41055411100387573},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3296814560890198},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2695384621620178},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2441718578338623},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1427718698978424},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07054457068443298}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8222671747207642},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6729984283447266},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5796746015548706},{"id":"https://openalex.org/C31266012","wikidata":"https://www.wikidata.org/wiki/Q6554340","display_name":"Linkage (software)","level":3,"score":0.5419406294822693},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5264626145362854},{"id":"https://openalex.org/C190727649","wikidata":"https://www.wikidata.org/wiki/Q1941532","display_name":"Mobile manipulator","level":4,"score":0.5219825506210327},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.4890376031398773},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4445737302303314},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.44421133399009705},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.42917656898498535},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4212993085384369},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.41985467076301575},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.41055411100387573},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3296814560890198},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2695384621620178},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2441718578338623},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1427718698978424},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07054457068443298},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574700020026","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574700020026","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":22,"referenced_works":["https://openalex.org/W1527910314","https://openalex.org/W1551371275","https://openalex.org/W1596805757","https://openalex.org/W1628044330","https://openalex.org/W1954544789","https://openalex.org/W1992270800","https://openalex.org/W1996092409","https://openalex.org/W2027720677","https://openalex.org/W2068484625","https://openalex.org/W2101720399","https://openalex.org/W2107475972","https://openalex.org/W2113874773","https://openalex.org/W2114866967","https://openalex.org/W2128750173","https://openalex.org/W2133750479","https://openalex.org/W2142456378","https://openalex.org/W2148834618","https://openalex.org/W2149563690","https://openalex.org/W2150344946","https://openalex.org/W2153326975","https://openalex.org/W2271200867","https://openalex.org/W6677118264"],"related_works":["https://openalex.org/W4323924603","https://openalex.org/W2349561638","https://openalex.org/W2536148680","https://openalex.org/W2906293295","https://openalex.org/W2245353192","https://openalex.org/W76816740","https://openalex.org/W1916203309","https://openalex.org/W2185220635","https://openalex.org/W2188526576","https://openalex.org/W2053228135"],"abstract_inverted_index":{"SUMMARY":[0],"A":[1,111],"novel":[2],"off-line":[3],"technique":[4,114,154],"for":[5,11],"automatic":[6],"calibration":[7,39,136],"of":[8,56,63,101,106,130],"kinematic":[9,93],"parameters":[10],"hydraulic":[12,142],"manipulators":[13,18],"is":[14,66,77,155],"presented.":[15],"Hydraulically":[16],"actuated":[17],"have":[19,31],"joints":[20,57],"which":[21,52,149],"are":[22,144],"always":[23],"powered":[24],"and,":[25],"unlike":[26],"conventional":[27,32],"robots,":[28],"may":[29],"not":[30],"joint":[33,83],"sensors":[34],"to":[35,79,85,164],"exploit":[36],"in":[37,146],"the":[38,64,69,74,86,98,103,107,131,152],"procedure.":[40],"Instead,":[41],"our":[42],"approach":[43],"employs":[44],"an":[45],"external":[46],"three-dimensional":[47],"linkage,":[48],"termed":[49],"\u201cthe":[50],"calibrator\u201d,":[51],"has":[53,97,123],"sufficient":[54],"number":[55],"with":[58],"corresponding":[59],"sensors.":[60],"One":[61],"end":[62,71,76],"calibrator":[65],"grasped":[67],"by":[68],"manipulator's":[70,108],"effector":[72],"while":[73],"other":[75],"attached":[78],"a":[80,117,139],"passive":[81],"spherical":[82],"fixed":[84],"world":[87],"coordinate":[88],"system.":[89],"The":[90],"mobile":[91,141],"closed":[92],"chain":[94],"thus":[95],"formed":[96],"added":[99],"advantage":[100],"eliminating":[102],"explicit":[104],"measurement":[105],"endpoint":[109],"location.":[110],"sequential":[112],"identification":[113],"that":[115,151],"uses":[116],"least":[118],"squares":[119],"numerical":[120],"search":[121],"algorithm":[122],"been":[124],"developed":[125],"based":[126],"on":[127,138,166],"link-by-link":[128],"movement":[129],"manipulator.":[132],"Simulation":[133],"and":[134,158,162],"experimental":[135],"results":[137],"typical":[140],"manipulator":[143],"reported":[145],"this":[147],"paper,":[148],"show":[150],"proposed":[153],"globally":[156],"stable,":[157],"potentially":[159],"fast,":[160],"inexpensive,":[161],"easy":[163],"apply":[165],"site.":[167]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
