{"id":"https://openalex.org/W2132261933","doi":"https://doi.org/10.1017/s0263574706002645","title":"A comparison between direct and indirect dynamic parameter identification methods in industrial robots","display_name":"A comparison between direct and indirect dynamic parameter identification methods in industrial robots","publication_year":2006,"publication_date":"2006-02-20","ids":{"openalex":"https://openalex.org/W2132261933","doi":"https://doi.org/10.1017/s0263574706002645","mag":"2132261933"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574706002645","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706002645","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/A5077482233","display_name":"F. Benimeli","orcid":"https://orcid.org/0000-0001-8565-5548"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francesc Benimeli","raw_affiliation_strings":["Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007224464","display_name":"Vicente Mata","orcid":"https://orcid.org/0000-0003-2255-0567"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Vicente Mata","raw_affiliation_strings":["Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#","institution_ids":["https://openalex.org/I60053951"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101471652","display_name":"Francisco Valero","orcid":"https://orcid.org/0000-0003-2295-4035"},"institutions":[{"id":"https://openalex.org/I60053951","display_name":"Universitat Polit\u00e8cnica de Val\u00e8ncia","ror":"https://ror.org/01460j859","country_code":"ES","type":"education","lineage":["https://openalex.org/I60053951"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Francisco Valero","raw_affiliation_strings":["Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain","institution_ids":["https://openalex.org/I60053951"]},{"raw_affiliation_string":"Departamento de Ingenier\u00eda Mec\u00e1nica y Materiales, Universidad Polit\u00e9cnica de Valencia, Camino de Vera s/n, 46022 Valencia (Spain)#TAB#","institution_ids":["https://openalex.org/I60053951"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5085,"has_fulltext":false,"cited_by_count":45,"citation_normalized_percentile":{"value":0.95397213,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"24","issue":"5","first_page":"579","last_page":"590"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9987000226974487,"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/T13644","display_name":"Control Systems in Engineering","score":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.7746090292930603},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6265988945960999},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.6250414848327637},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5968572497367859},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5031978487968445},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46132463216781616},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4479036331176758},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4413031041622162},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.43320223689079285},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2774319052696228},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2703302800655365},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.20592379570007324},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.1179628074169159}],"concepts":[{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.7746090292930603},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6265988945960999},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.6250414848327637},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5968572497367859},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5031978487968445},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46132463216781616},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4479036331176758},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4413031041622162},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.43320223689079285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2774319052696228},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2703302800655365},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.20592379570007324},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.1179628074169159},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574706002645","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574706002645","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":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.47999998927116394}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W1918519849","https://openalex.org/W1963969271","https://openalex.org/W1966552874","https://openalex.org/W1969140852","https://openalex.org/W1973240993","https://openalex.org/W2001524797","https://openalex.org/W2002038293","https://openalex.org/W2066753350","https://openalex.org/W2068793240","https://openalex.org/W2072242545","https://openalex.org/W2078856056","https://openalex.org/W2080017937","https://openalex.org/W2081674482","https://openalex.org/W2082749634","https://openalex.org/W2088465803","https://openalex.org/W2088585801","https://openalex.org/W2102154372","https://openalex.org/W2105769819","https://openalex.org/W2119143623","https://openalex.org/W2126300969","https://openalex.org/W2142394031","https://openalex.org/W2159537373","https://openalex.org/W2169017219","https://openalex.org/W2171750451","https://openalex.org/W3215920181"],"related_works":["https://openalex.org/W3125070615","https://openalex.org/W2270864633","https://openalex.org/W2126837612","https://openalex.org/W2163734300","https://openalex.org/W8302103","https://openalex.org/W1993031470","https://openalex.org/W2617168346","https://openalex.org/W148906287","https://openalex.org/W1554268079","https://openalex.org/W2362051921"],"abstract_inverted_index":{"The":[0,30,44],"estimation":[1],"of":[2,11,54,57,69,80,98],"dynamic":[3,22,85],"parameters":[4,56,82],"in":[5,36,49,52,87],"mechanical":[6],"systems":[7],"constitutes":[8],"an":[9,99,107,112],"issue":[10],"crucial":[12],"importance":[13],"both":[14],"for":[15],"inverse":[16],"dynamics":[17],"based":[18],"control":[19,114],"strategies":[20],"and":[21,41,62,96,101],"simulation":[23],"applications":[24],"where":[25],"high":[26],"accuracy":[27],"is":[28,116],"required.":[29],"identification":[31,79,104],"procedures":[32,76,105],"can":[33],"be":[34],"classified":[35],"two":[37],"main":[38],"groups:":[39],"indirect":[40,100],"direct":[42,75,103],"procedures.":[43],"first":[45],"ones":[46],"act":[47],"sequentially":[48],"several":[50],"steps":[51],"each":[53],"them":[55],"different":[58],"nature":[59],"(basically":[60],"friction":[61],"inertial":[63],"parameters)":[64],"are":[65],"identified":[66],"by":[67],"means":[68],"specifically":[70],"designed":[71],"experiments,":[72],"while":[73],"the":[74,78,94],"allow":[77],"all":[81],"defining":[83],"de":[84],"model":[86],"a":[88,102],"single":[89],"stage.":[90],"In":[91],"this":[92],"paper,":[93],"implementation":[95],"comparison":[97],"on":[106],"industrial":[108],"robot":[109],"provided":[110],"with":[111],"open":[113],"architecture":[115],"addressed.":[117]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":11},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
