{"id":"https://openalex.org/W4402617966","doi":"https://doi.org/10.1017/s026357472400136x","title":"High accuracy hybrid kinematic modeling for serial robotic manipulators","display_name":"High accuracy hybrid kinematic modeling for serial robotic manipulators","publication_year":2024,"publication_date":"2024-09-01","ids":{"openalex":"https://openalex.org/W4402617966","doi":"https://doi.org/10.1017/s026357472400136x"},"language":"en","primary_location":{"id":"doi:10.1017/s026357472400136x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472400136x","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/A5068715875","display_name":"Marco Ojer","orcid":"https://orcid.org/0000-0002-4494-6688"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]},{"id":"https://openalex.org/I4210092551","display_name":"Vicomtech","ror":"https://ror.org/0023sah13","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210092551"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Marco Ojer","raw_affiliation_strings":["University of the Basque Country (UPV/EHU), Donostia-San Sebastian, Spain","Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain"],"raw_orcid":"https://orcid.org/0000-0002-4494-6688","affiliations":[{"raw_affiliation_string":"University of the Basque Country (UPV/EHU), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I169108374"]},{"raw_affiliation_string":"Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I4210092551"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019660745","display_name":"Ander Etxezarreta","orcid":"https://orcid.org/0000-0001-6103-3920"},"institutions":[{"id":"https://openalex.org/I4210092551","display_name":"Vicomtech","ror":"https://ror.org/0023sah13","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210092551"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Ander Etxezarreta","raw_affiliation_strings":["Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I4210092551"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036866411","display_name":"Gorka Kortaberria","orcid":"https://orcid.org/0000-0001-9487-7425"},"institutions":[{"id":"https://openalex.org/I4210136402","display_name":"Tekniker","ror":"https://ror.org/033vryh36","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210136402"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Gorka Kortaberria","raw_affiliation_strings":["Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain","institution_ids":["https://openalex.org/I4210136402"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5113388967","display_name":"Brahim Ahmed","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136402","display_name":"Tekniker","ror":"https://ror.org/033vryh36","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210136402"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Brahim Ahmed","raw_affiliation_strings":["Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain","institution_ids":["https://openalex.org/I4210136402"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jon Flores","orcid":null},"institutions":[{"id":"https://openalex.org/I4210136402","display_name":"Tekniker","ror":"https://ror.org/033vryh36","country_code":"ES","type":"nonprofit","lineage":["https://openalex.org/I4210136402"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jon Flores","raw_affiliation_strings":["Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tekniker Research Centre, Basque Research and Technology Alliance (BRTA) Eibar, Eibar, Spain","institution_ids":["https://openalex.org/I4210136402"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022316351","display_name":"Javier Hernandez","orcid":"https://orcid.org/0000-0001-9504-5217"},"institutions":[{"id":"https://openalex.org/I4210092551","display_name":"Vicomtech","ror":"https://ror.org/0023sah13","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210092551"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Javier Hernandez","raw_affiliation_strings":["Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I4210092551"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082262750","display_name":"Elena Lazkano","orcid":"https://orcid.org/0000-0002-7653-6210"},"institutions":[{"id":"https://openalex.org/I169108374","display_name":"University of the Basque Country","ror":"https://ror.org/000xsnr85","country_code":"ES","type":"education","lineage":["https://openalex.org/I169108374"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Elena Lazkano","raw_affiliation_strings":["University of the Basque Country (UPV/EHU), Donostia-San Sebastian, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of the Basque Country (UPV/EHU), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I169108374"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100450510","display_name":"Xiao Lin","orcid":"https://orcid.org/0000-0001-8518-2293"},"institutions":[{"id":"https://openalex.org/I4210092551","display_name":"Vicomtech","ror":"https://ror.org/0023sah13","country_code":"ES","type":"facility","lineage":["https://openalex.org/I4210092551"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Xiao Lin","raw_affiliation_strings":["Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Vicomtech Foundation, Basque Research and Technology Alliance (BRTA), Donostia-San Sebastian, Spain","institution_ids":["https://openalex.org/I4210092551"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5068715875"],"corresponding_institution_ids":["https://openalex.org/I169108374","https://openalex.org/I4210092551"],"apc_list":null,"apc_paid":null,"fwci":1.2002,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.793472,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":98},"biblio":{"volume":"42","issue":"9","first_page":"3211","last_page":"3229"},"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9957000017166138,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9954000115394592,"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":0.8260918855667114},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.7880648374557495},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.6598280668258667},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5694334506988525},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5374529957771301},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5250356197357178},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4235369563102722},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4085295498371124},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3105263411998749},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.258278489112854},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.20663833618164062},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10200342535972595},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06021463871002197}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8260918855667114},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7880648374557495},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.6598280668258667},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5694334506988525},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5374529957771301},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5250356197357178},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4235369563102722},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4085295498371124},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3105263411998749},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.258278489112854},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.20663833618164062},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10200342535972595},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06021463871002197},{"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/s026357472400136x","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s026357472400136x","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":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":38,"referenced_works":["https://openalex.org/W1964831274","https://openalex.org/W1983241812","https://openalex.org/W1995526872","https://openalex.org/W2009563859","https://openalex.org/W2056731056","https://openalex.org/W2076555782","https://openalex.org/W2081535564","https://openalex.org/W2097822397","https://openalex.org/W2114866967","https://openalex.org/W2149563690","https://openalex.org/W2159154059","https://openalex.org/W2205340216","https://openalex.org/W2307406593","https://openalex.org/W2414779538","https://openalex.org/W2470684199","https://openalex.org/W2509422344","https://openalex.org/W2531996871","https://openalex.org/W2601095845","https://openalex.org/W2750588410","https://openalex.org/W2895082802","https://openalex.org/W2897941479","https://openalex.org/W2919557721","https://openalex.org/W2946421367","https://openalex.org/W2996697936","https://openalex.org/W3004623551","https://openalex.org/W3014034503","https://openalex.org/W3042527373","https://openalex.org/W3092372063","https://openalex.org/W3121222079","https://openalex.org/W4210739015","https://openalex.org/W4221080692","https://openalex.org/W4385749080","https://openalex.org/W4387101020","https://openalex.org/W6742274372","https://openalex.org/W6759663211","https://openalex.org/W6771821389","https://openalex.org/W6781032462","https://openalex.org/W6950353797"],"related_works":["https://openalex.org/W4214678870","https://openalex.org/W2222614663","https://openalex.org/W2973099332","https://openalex.org/W2005706483","https://openalex.org/W2059064092","https://openalex.org/W4211192751","https://openalex.org/W3105505778","https://openalex.org/W2391397427","https://openalex.org/W1996341361","https://openalex.org/W4395068269"],"abstract_inverted_index":{"Abstract":[0],"In":[1,69],"this":[2],"study,":[3],"we":[4,77,127],"present":[5],"a":[6,86,136],"hybrid":[7,81,133],"kinematic":[8,44,48,75,117,138],"modeling":[9,39,49,66,139],"approach":[10],"for":[11,106],"serial":[12],"robotic":[13],"manipulators,":[14],"which":[15,103],"offers":[16],"improved":[17],"accuracy":[18],"compared":[19],"to":[20,64,71],"conventional":[21],"methods.":[22],"Our":[23],"method":[24],"integrates":[25],"the":[26,30,73,79,96,100,129,132,142],"geometric":[27],"properties":[28],"of":[29,99,131,144,150],"robot":[31],"with":[32,51],"ground":[33,57],"truth":[34,58],"data,":[35],"resulting":[36],"in":[37,148],"enhanced":[38],"precision.":[40],"The":[41],"proposed":[42],"forward":[43,80],"model":[45,82],"combines":[46],"classical":[47],"techniques":[50],"neural":[52],"networks":[53],"trained":[54],"on":[55],"accurate":[56],"data.":[59],"This":[60],"fusion":[61],"enables":[62],"us":[63],"minimize":[65],"errors":[67],"effectively.":[68],"order":[70],"address":[72],"inverse":[74,116],"problem,":[76],"utilize":[78],"as":[83,111,135],"feedback":[84],"within":[85],"non-linear":[87],"optimization":[88],"process.":[89],"Unlike":[90],"previous":[91],"works,":[92],"our":[93,115,125],"formulation":[94],"incorporates":[95],"rotational":[97],"component":[98],"end":[101],"effector,":[102],"is":[104],"beneficial":[105],"applications":[107],"involving":[108],"orientation,":[109],"such":[110],"inspection":[112],"tasks.":[113],"Furthermore,":[114],"strategy":[118],"can":[119],"handle":[120],"multiple":[121],"possible":[122],"solutions.":[123],"Through":[124],"research,":[126],"demonstrate":[128],"effectiveness":[130],"models":[134,147],"high-accuracy":[137],"strategy,":[140],"surpassing":[141],"performance":[143],"traditional":[145],"physical":[146],"terms":[149],"positioning":[151],"accuracy.":[152]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
