{"id":"https://openalex.org/W2128044034","doi":"https://doi.org/10.1017/s0263574713000714","title":"Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker","display_name":"Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker","publication_year":2013,"publication_date":"2013-08-09","ids":{"openalex":"https://openalex.org/W2128044034","doi":"https://doi.org/10.1017/s0263574713000714","mag":"2128044034"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574713000714","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000714","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/A5014055019","display_name":"Albert Nubiola","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Albert Nubiola","raw_affiliation_strings":["\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021847892","display_name":"Mohamed Slamani","orcid":"https://orcid.org/0000-0002-2361-4588"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Mohamed Slamani","raw_affiliation_strings":["\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052093891","display_name":"Ahmed Joubair","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ahmed Joubair","raw_affiliation_strings":["\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041347819","display_name":"Ilian A. Bonev","orcid":"https://orcid.org/0000-0002-9663-2496"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ilian A. Bonev","raw_affiliation_strings":["\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de Technologie Sup\u00e9rieure, Montreal, Quebec, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5041347819"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":12.5575,"has_fulltext":false,"cited_by_count":150,"citation_normalized_percentile":{"value":0.98691914,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"32","issue":"3","first_page":"447","last_page":"466"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9991000294685364,"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":0.9945999979972839,"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/laser-tracker","display_name":"Laser tracker","score":0.9643840789794922},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7564740180969238},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.6382642984390259},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5739386677742004},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5183873772621155},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5119003057479858},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.505903422832489},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.5049214959144592},{"id":"https://openalex.org/keywords/coordinate-measuring-machine","display_name":"Coordinate-measuring machine","score":0.4820621609687805},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4631383419036865},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4512714743614197},{"id":"https://openalex.org/keywords/accuracy-and-precision","display_name":"Accuracy and precision","score":0.4317891597747803},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.42086899280548096},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4009014368057251},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.31496691703796387},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2703539729118347},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2370370328426361},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.2299107015132904},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15145578980445862},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.1320037543773651},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.12265297770500183},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07687562704086304}],"concepts":[{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.9643840789794922},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7564740180969238},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.6382642984390259},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5739386677742004},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5183873772621155},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5119003057479858},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.505903422832489},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.5049214959144592},{"id":"https://openalex.org/C2777511293","wikidata":"https://www.wikidata.org/wiki/Q1426871","display_name":"Coordinate-measuring machine","level":2,"score":0.4820621609687805},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4631383419036865},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4512714743614197},{"id":"https://openalex.org/C202799725","wikidata":"https://www.wikidata.org/wiki/Q272035","display_name":"Accuracy and precision","level":2,"score":0.4317891597747803},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.42086899280548096},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4009014368057251},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.31496691703796387},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2703539729118347},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2370370328426361},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.2299107015132904},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15145578980445862},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.1320037543773651},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.12265297770500183},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07687562704086304},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574713000714","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574713000714","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":[{"id":"https://openalex.org/F4320320994","display_name":"Canada Research Chairs","ror":"https://ror.org/0517h6h17"},{"id":"https://openalex.org/F4320334593","display_name":"Natural Sciences and Engineering Research Council of Canada","ror":"https://ror.org/01h531d29"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1867541325","https://openalex.org/W1979504223","https://openalex.org/W1986514633","https://openalex.org/W2049273394","https://openalex.org/W2050086679","https://openalex.org/W2056731056","https://openalex.org/W2058428974","https://openalex.org/W2062691475","https://openalex.org/W2064909706","https://openalex.org/W2092210497","https://openalex.org/W2101720399","https://openalex.org/W2111249537","https://openalex.org/W2114866967","https://openalex.org/W2119139471","https://openalex.org/W2124377672","https://openalex.org/W2128963970","https://openalex.org/W2140781725","https://openalex.org/W2141379667","https://openalex.org/W2148407180","https://openalex.org/W2166637439","https://openalex.org/W2170914560","https://openalex.org/W2185801016","https://openalex.org/W2582998992","https://openalex.org/W3139610437"],"related_works":["https://openalex.org/W2771857660","https://openalex.org/W2037632893","https://openalex.org/W4382999294","https://openalex.org/W2247785048","https://openalex.org/W2098614740","https://openalex.org/W2118604234","https://openalex.org/W3094486509","https://openalex.org/W2152831753","https://openalex.org/W2914045867","https://openalex.org/W2128044034"],"abstract_inverted_index":{"SUMMARY":[0],"The":[1,16,42,80,114],"absolute":[2],"accuracy":[3],"of":[4,44],"a":[5,12,22,63],"small":[6],"industrial":[7],"robot":[8,81],"is":[9,47,73,82,109],"improved":[10],"using":[11,84,97],"30-parameter":[13],"calibration":[14,25,91],"model.":[15],"error":[17,54],"model":[18],"takes":[19],"into":[20],"account":[21],"full":[23],"kinematic":[24],"and":[26,40,66,89],"five":[27],"compliance":[28],"parameters":[29],"related":[30],"to":[31,49],"the":[32,45,52,90,99,103,118,129,139],"stiffness":[33],"in":[34,94],"joints":[35],"2,":[36],"3,":[37],"4,":[38],"5,":[39],"6.":[41],"linearization":[43],"Jacobian":[46],"performed":[48],"iteratively":[50],"find":[51],"modeled":[53],"parameters.":[55],"Two":[56],"coordinate":[57],"measurement":[58,78],"systems":[59],"are":[60],"used":[61,111,127],"independently:":[62],"laser":[64,100,140],"tracker":[65,101],"an":[67],"optical":[68,104,119],"CMM.":[69,105],"An":[70],"optimized":[71],"end-effector":[72,133],"developed":[74,136],"specifically":[75],"for":[76,112,138],"each":[77],"system.":[79],"calibrated":[83],"fewer":[85],"than":[86],"50":[87],"configurations":[88,96],"efficiency":[92],"validated":[93],"1000":[95],"either":[98],"or":[102],"A":[106],"telescopic":[107],"ballbar":[108],"also":[110],"validation.":[113],"results":[115],"show":[116],"that":[117,134],"CMM":[120],"yields":[121],"slightly":[122],"better":[123],"results,":[124],"even":[125],"when":[126],"with":[128],"simple":[130],"triangular":[131],"plate":[132],"was":[135],"mainly":[137],"tracker.":[141]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":22},{"year":2023,"cited_by_count":18},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":8},{"year":2016,"cited_by_count":9},{"year":2015,"cited_by_count":12},{"year":2014,"cited_by_count":4}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}
