{"id":"https://openalex.org/W2804081787","doi":"https://doi.org/10.1017/s0263574718000280","title":"An improved kinematic calibration method for serial manipulators based on POE formula","display_name":"An improved kinematic calibration method for serial manipulators based on POE formula","publication_year":2018,"publication_date":"2018-05-16","ids":{"openalex":"https://openalex.org/W2804081787","doi":"https://doi.org/10.1017/s0263574718000280","mag":"2804081787"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574718000280","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718000280","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":true,"oa_status":"green","oa_url":"http://ir.opt.ac.cn/handle/181661/30850","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5083505616","display_name":"Chenguang Chang","orcid":null},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210144662","display_name":"Xi'an Institute of Optics and Precision Mechanics","ror":"https://ror.org/0444j5556","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210144662"]},{"id":"https://openalex.org/I9224756","display_name":"Northeastern University","ror":"https://ror.org/03awzbc87","country_code":"CN","type":"education","lineage":["https://openalex.org/I9224756"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chenguang Chang","raw_affiliation_strings":["Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, P.R. China","School of Mechanical Engineering and Automation, Northeastern University, Shenyang, P.R. China","State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of Spectral Imaging Technology of Chinese Academy of Sciences, Xi'an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi'an, P.R. China","institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210144662"]},{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Northeastern University, Shenyang, P.R. China","institution_ids":["https://openalex.org/I9224756"]},{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060877237","display_name":"Jinguo Liu","orcid":"https://orcid.org/0000-0002-6790-6582"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinguo Liu","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087581311","display_name":"Zhiyu Ni","orcid":"https://orcid.org/0000-0003-3426-9203"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiyu Ni","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5113842468","display_name":"Ruolong Qi","orcid":"https://orcid.org/0000-0001-8164-6898"},"institutions":[{"id":"https://openalex.org/I142078773","display_name":"Shenyang Institute of Automation","ror":"https://ror.org/00ft6nj33","country_code":"CN","type":"facility","lineage":["https://openalex.org/I142078773","https://openalex.org/I19820366"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruolong Qi","raw_affiliation_strings":["State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, P.R. China","institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5060877237"],"corresponding_institution_ids":["https://openalex.org/I142078773","https://openalex.org/I19820366"],"apc_list":null,"apc_paid":null,"fwci":1.9038,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.85382068,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"36","issue":"8","first_page":"1244","last_page":"1262"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9922000169754028,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9886999726295471,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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":0.86098313331604},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.739425003528595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6166571974754333},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.5987629294395447},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5642745494842529},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5609273314476013},{"id":"https://openalex.org/keywords/frame","display_name":"Frame (networking)","score":0.546849250793457},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.5210932493209839},{"id":"https://openalex.org/keywords/accuracy-and-precision","display_name":"Accuracy and precision","score":0.4835214614868164},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.4695618450641632},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.45334717631340027},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.3676533102989197},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3086701035499573},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24277636408805847},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21461263298988342},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0674302875995636}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.86098313331604},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.739425003528595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6166571974754333},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.5987629294395447},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5642745494842529},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5609273314476013},{"id":"https://openalex.org/C126042441","wikidata":"https://www.wikidata.org/wiki/Q1324888","display_name":"Frame (networking)","level":2,"score":0.546849250793457},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.5210932493209839},{"id":"https://openalex.org/C202799725","wikidata":"https://www.wikidata.org/wiki/Q272035","display_name":"Accuracy and precision","level":2,"score":0.4835214614868164},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.4695618450641632},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.45334717631340027},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3676533102989197},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3086701035499573},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24277636408805847},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21461263298988342},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0674302875995636},{"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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1017/s0263574718000280","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574718000280","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"},{"id":"pmh:oai:ir.opt.ac.cn:181661/30850","is_oa":true,"landing_page_url":"http://ir.opt.ac.cn/handle/181661/30850","pdf_url":null,"source":{"id":"https://openalex.org/S4377196962","display_name":"Institutional Repository of Xi'an Institute of Optics and Fine Mechanics, Chinese Academy of Sciences (Xian Institute of Optics and Precision Mechanics)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210144662","host_organization_name":"Xi'an Institute of Optics and Precision Mechanics","host_organization_lineage":["https://openalex.org/I4210144662"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"}],"best_oa_location":{"id":"pmh:oai:ir.opt.ac.cn:181661/30850","is_oa":true,"landing_page_url":"http://ir.opt.ac.cn/handle/181661/30850","pdf_url":null,"source":{"id":"https://openalex.org/S4377196962","display_name":"Institutional Repository of Xi'an Institute of Optics and Fine Mechanics, Chinese Academy of Sciences (Xian Institute of Optics and Precision Mechanics)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210144662","host_organization_name":"Xi'an Institute of Optics and Precision Mechanics","host_organization_lineage":["https://openalex.org/I4210144662"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"\u671f\u520a\u8bba\u6587"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320326907","display_name":"State Key Laboratory of Robotics","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W134451811","https://openalex.org/W586134986","https://openalex.org/W1539666452","https://openalex.org/W1920657009","https://openalex.org/W1965311582","https://openalex.org/W1966063170","https://openalex.org/W1968498431","https://openalex.org/W2007483019","https://openalex.org/W2019067872","https://openalex.org/W2027401668","https://openalex.org/W2065693146","https://openalex.org/W2107475972","https://openalex.org/W2109483394","https://openalex.org/W2114866967","https://openalex.org/W2126721296","https://openalex.org/W2139449190","https://openalex.org/W2140876163","https://openalex.org/W2148756062","https://openalex.org/W2153326975","https://openalex.org/W2168686184","https://openalex.org/W2246023205","https://openalex.org/W2351250651","https://openalex.org/W2536796799","https://openalex.org/W3015854621","https://openalex.org/W4245081424","https://openalex.org/W4256407389","https://openalex.org/W6632342473","https://openalex.org/W6676537645","https://openalex.org/W6705808751"],"related_works":["https://openalex.org/W4244295168","https://openalex.org/W1977333149","https://openalex.org/W4214678870","https://openalex.org/W2601046814","https://openalex.org/W2944714857","https://openalex.org/W2051516522","https://openalex.org/W4323924603","https://openalex.org/W2973099332","https://openalex.org/W2152470674","https://openalex.org/W2188526576"],"abstract_inverted_index":{"SUMMARY":[0],"Existing":[1],"measurement":[2,25],"equipments":[3],"easily":[4],"determine":[5],"position":[6],"with":[7,14,60,159],"high":[8,145],"precision.":[9,16,146],"However,":[10],"they":[11],"evaluate":[12],"orientation":[13],"low":[15],"It":[17],"is":[18,45,66,73,109],"necessary":[19],"to":[20,47,153],"minimize":[21],"the":[22,40,49,70,76,80,84,90,98,103,106,124,129,132],"effect":[23],"of":[24,42,53,83,105,114,131,156],"error":[26,58,85],"on":[27,39],"identification":[28],"accuracy.":[29],"In":[30],"this":[31],"study,":[32],"a":[33,54,115],"method":[34,108,126,140,149],"for":[35],"kinematic":[36,92,138],"calibration":[37,112,139],"based":[38],"product":[41],"exponentials":[43],"(POE)":[44],"presented":[46],"improve":[48],"absolute":[50],"positioning":[51],"accuracy":[52],"sliding":[55,116,133],"manipulator.":[56,134],"An":[57],"model":[59,86],"uniform":[61],"and":[62,144],"generic":[63],"modeling":[64],"rules":[65],"established":[67],"in":[68],"which":[69],"tool":[71],"frame":[72],"selected":[74],"as":[75],"reference":[77],"frame.":[78],"Furthermore,":[79],"redundant":[81],"parameters":[82,93],"are":[87,94,118],"removed.":[88],"Subsequently,":[89],"actual":[91],"identified":[95],"by":[96],"using":[97],"least":[99],"square":[100],"method.":[101],"Finally,":[102],"process":[104],"improved":[107,136],"discussed.":[110],"Kinematic":[111],"simulations":[113],"manipulator":[117],"implemented.":[119],"The":[120,135,147],"results":[121],"indicate":[122],"that":[123],"proposed":[125,148],"significantly":[127],"improves":[128],"precision":[130],"POE":[137],"offers":[141],"convenience,":[142],"efficiency,":[143],"can":[150],"be":[151],"applied":[152],"all":[154],"types":[155],"serial":[157],"robots":[158],"n":[160],"-DOF":[161]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":7},{"year":2018,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}