{"id":"https://openalex.org/W2619825644","doi":"https://doi.org/10.1017/s0263574717000224","title":"Experimental parameter identification of flexible joint robot manipulators","display_name":"Experimental parameter identification of flexible joint robot manipulators","publication_year":2017,"publication_date":"2017-05-28","ids":{"openalex":"https://openalex.org/W2619825644","doi":"https://doi.org/10.1017/s0263574717000224","mag":"2619825644"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574717000224","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574717000224","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/A5031601938","display_name":"Roger Miranda\u2010Colorado","orcid":"https://orcid.org/0000-0003-2016-4291"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Roger Miranda-Colorado","raw_affiliation_strings":["CONACyT-Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, 22435, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"CONACyT-Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, 22435, M\u00e9xico","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002712538","display_name":"Javier Moreno\u2013Valenzuela","orcid":"https://orcid.org/0000-0003-0670-5979"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Javier Moreno-Valenzuela","raw_affiliation_strings":["Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, 22435, M\u00e9xico"],"raw_orcid":"https://orcid.org/0000-0003-0670-5979","affiliations":[{"raw_affiliation_string":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional No. 1310, Nueva Tijuana, Tijuana, Baja California, 22435, M\u00e9xico","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5002712538"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.9678,"has_fulltext":false,"cited_by_count":52,"citation_normalized_percentile":{"value":0.93831819,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"36","issue":"3","first_page":"313","last_page":"332"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9988999962806702,"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":0.9987000226974487,"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/control-theory","display_name":"Control theory (sociology)","score":0.7265549898147583},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.575402557849884},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.5713709592819214},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5489348769187927},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5333969593048096},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5258974432945251},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5233456492424011},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5055558681488037},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4943976402282715},{"id":"https://openalex.org/keywords/identification-scheme","display_name":"Identification scheme","score":0.46383461356163025},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.45434945821762085},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.426038920879364},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.42065560817718506},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.4165045917034149},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.34360238909721375},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2605968713760376},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22276288270950317},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1705993115901947},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.1289389729499817},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.08059477806091309},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07068485021591187}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7265549898147583},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.575402557849884},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.5713709592819214},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5489348769187927},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5333969593048096},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5258974432945251},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5233456492424011},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5055558681488037},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4943976402282715},{"id":"https://openalex.org/C2778922385","wikidata":"https://www.wikidata.org/wiki/Q3475620","display_name":"Identification scheme","level":3,"score":0.46383461356163025},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.45434945821762085},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.426038920879364},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.42065560817718506},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.4165045917034149},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.34360238909721375},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2605968713760376},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22276288270950317},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1705993115901947},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.1289389729499817},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.08059477806091309},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07068485021591187},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574717000224","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574717000224","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/16","display_name":"Peace, Justice and strong institutions","score":0.7900000214576721}],"awards":[],"funders":[{"id":"https://openalex.org/F4320321739","display_name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","ror":"https://ror.org/059ex5q34"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":50,"referenced_works":["https://openalex.org/W102204189","https://openalex.org/W139131351","https://openalex.org/W246666880","https://openalex.org/W421662763","https://openalex.org/W639267115","https://openalex.org/W1560270123","https://openalex.org/W1596951786","https://openalex.org/W1601110483","https://openalex.org/W1869902755","https://openalex.org/W1964511224","https://openalex.org/W1969140852","https://openalex.org/W1972046056","https://openalex.org/W1989517777","https://openalex.org/W1993362406","https://openalex.org/W1995090200","https://openalex.org/W1997650413","https://openalex.org/W2001524797","https://openalex.org/W2028153280","https://openalex.org/W2045410034","https://openalex.org/W2062691475","https://openalex.org/W2070310598","https://openalex.org/W2078856056","https://openalex.org/W2086936442","https://openalex.org/W2099699682","https://openalex.org/W2104181254","https://openalex.org/W2108228080","https://openalex.org/W2111253117","https://openalex.org/W2113575195","https://openalex.org/W2116336719","https://openalex.org/W2129644129","https://openalex.org/W2141099300","https://openalex.org/W2144196261","https://openalex.org/W2148291072","https://openalex.org/W2150024155","https://openalex.org/W2157110801","https://openalex.org/W2158516389","https://openalex.org/W2158583539","https://openalex.org/W2160006523","https://openalex.org/W2162123190","https://openalex.org/W2181096178","https://openalex.org/W2262919957","https://openalex.org/W2471525382","https://openalex.org/W2584129314","https://openalex.org/W2586963032","https://openalex.org/W2734847652","https://openalex.org/W4205362845","https://openalex.org/W4210939600","https://openalex.org/W4233608862","https://openalex.org/W4240801863","https://openalex.org/W6720531209"],"related_works":["https://openalex.org/W2169408982","https://openalex.org/W1909999440","https://openalex.org/W1576040274","https://openalex.org/W4313681606","https://openalex.org/W899261626","https://openalex.org/W57088813","https://openalex.org/W2094241856","https://openalex.org/W2982665746","https://openalex.org/W50782446","https://openalex.org/W4210757404"],"abstract_inverted_index":{"SUMMARY":[0],"This":[1],"paper":[2],"contributes":[3],"by":[4,142,153],"presenting":[5],"a":[6,30,73,98,122],"parameter":[7,74,92,105],"identification":[8,75,93,106,120,174],"procedure":[9,22,76],"for":[10,36,55,172],"n":[11],"-degrees-of-freedom":[12],"flexible":[13],"joint":[14,41],"robot":[15,27,53],"manipulators.":[16],"An":[17],"advantage":[18],"of":[19,26,39,89,97,117],"the":[20,24,37,40,51,79,87,90,115,118,138,143,150,154,169,177,180,191],"given":[21,152],"is":[23,65,108],"obtaining":[25],"parameters":[28,140,151,171],"in":[29,50,67,131,190],"single":[31],"experiment.":[32],"Guidelines":[33],"are":[34,60,161],"provided":[35,141],"computing":[38],"position":[42,194],"filtering":[43],"and":[44,146,184,193],"velocity":[45],"estimation.":[46],"The":[47,62],"method":[48,107],"relies":[49],"filtered":[52,63],"model,":[54],"which":[56,70],"no":[57],"acceleration":[58],"measurements":[59],"required.":[61],"model":[64],"expressed":[66],"regressor":[68],"form,":[69],"allows":[71],"applying":[72],"based":[77],"on":[78],"least":[80,99],"squares":[81,100],"algorithm.":[82],"In":[83,111],"order":[84,112],"to":[85,113,165],"assess":[86,114],"performance":[88],"proposed":[91,144,178],"scheme,":[94,145,179],"an":[95],"implementation":[96],"with":[101,163],"forgetting":[102],"factor":[103],"(LSFF)":[104],"carried":[109],"out.":[110],"reliability":[116],"tested":[119],"schemes,":[121],"model-based":[123],"trajectory":[124],"tracking":[125],"controller":[126],"has":[127],"been":[128],"implemented":[129],"twice":[130],"different":[132],"conditions:":[133],"one":[134],"control":[135,159],"experiment":[136,148],"using":[137,149,168],"estimated":[139,170],"another":[147],"LSFF":[155],"method.":[156,175],"These":[157],"real-time":[158],"experiments":[160,183],"compared":[162],"respect":[164],"numerical":[166,185],"simulations":[167,186],"each":[173],"For":[176],"comparison":[181],"between":[182],"indicates":[187],"better":[188],"accuracy":[189],"torque":[192],"prediction.":[195]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":9},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":9},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":5}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}