{"id":"https://openalex.org/W4415273442","doi":"https://doi.org/10.1017/s0263574725102713","title":"Kinematic calibration and accuracy study of a 5-degrees-of-freedom hybrid polishing robot","display_name":"Kinematic calibration and accuracy study of a 5-degrees-of-freedom hybrid polishing robot","publication_year":2025,"publication_date":"2025-10-01","ids":{"openalex":"https://openalex.org/W4415273442","doi":"https://doi.org/10.1017/s0263574725102713"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574725102713","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102713","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/A5102318112","display_name":"Bo Sun","orcid":"https://orcid.org/0000-0002-2716-4991"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bo Sun","raw_affiliation_strings":["China University of Mining and Technology","School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2716-4991","affiliations":[{"raw_affiliation_string":"China University of Mining and Technology","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054245402","display_name":"Mingyang Qin","orcid":null},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingyang Qin","raw_affiliation_strings":["China University of Mining and Technology","School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China University of Mining and Technology","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5034372090","display_name":"Yao\u2010Lin Jiang","orcid":"https://orcid.org/0000-0002-5541-1136"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaolin Jiang","raw_affiliation_strings":["China University of Mining and Technology","School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China University of Mining and Technology","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066755402","display_name":"Gang Cheng","orcid":"https://orcid.org/0000-0002-9211-1044"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gang Cheng","raw_affiliation_strings":["China University of Mining and Technology","School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-9211-1044","affiliations":[{"raw_affiliation_string":"China University of Mining and Technology","institution_ids":["https://openalex.org/I25757504"]},{"raw_affiliation_string":"School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5066755402"],"corresponding_institution_ids":["https://openalex.org/I25757504"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.23328172,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"43","issue":"10","first_page":"3782","last_page":"3800"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11301","display_name":"Advanced Surface Polishing Techniques","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/T11301","display_name":"Advanced Surface Polishing Techniques","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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":0.9990000128746033,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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":0.8899000287055969},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6105999946594238},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5189999938011169},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4765999913215637},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.45249998569488525},{"id":"https://openalex.org/keywords/differential","display_name":"Differential (mechanical device)","score":0.44839999079704285},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.4163999855518341},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3824000060558319}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8899000287055969},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6105999946594238},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5526999831199646},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5189999938011169},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4765999913215637},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.45249998569488525},{"id":"https://openalex.org/C93226319","wikidata":"https://www.wikidata.org/wiki/Q193137","display_name":"Differential (mechanical device)","level":2,"score":0.44839999079704285},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.4163999855518341},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3824000060558319},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3815000057220459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3804999887943268},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3582000136375427},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3515999913215637},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.3418000042438507},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.34040001034736633},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.33320000767707825},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3278000056743622},{"id":"https://openalex.org/C138113353","wikidata":"https://www.wikidata.org/wiki/Q611639","display_name":"Polishing","level":2,"score":0.3276999890804291},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.2863999903202057},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2734000086784363},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.27250000834465027},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2721000015735626},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.2685000002384186},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.26080000400543213},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.2581999897956848}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574725102713","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574725102713","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":26,"referenced_works":["https://openalex.org/W2012103918","https://openalex.org/W2146416417","https://openalex.org/W2394000971","https://openalex.org/W2411340114","https://openalex.org/W2518735096","https://openalex.org/W2622344716","https://openalex.org/W2734593294","https://openalex.org/W2756924539","https://openalex.org/W3006718091","https://openalex.org/W3096852396","https://openalex.org/W3109261741","https://openalex.org/W3109268418","https://openalex.org/W3153583027","https://openalex.org/W3158305897","https://openalex.org/W3178511394","https://openalex.org/W3195774211","https://openalex.org/W3200947411","https://openalex.org/W4200138548","https://openalex.org/W4226194796","https://openalex.org/W4312698486","https://openalex.org/W4385269070","https://openalex.org/W4387740644","https://openalex.org/W4391377635","https://openalex.org/W4403400488","https://openalex.org/W4404826371","https://openalex.org/W4410417462"],"related_works":[],"abstract_inverted_index":{"Abstract":[0],"An":[1],"improved":[2,78,122],"identification":[3,69,123],"algorithm":[4,83,124],"is":[5,32,45,74,84,97],"adopted":[6],"to":[7,86,99],"calibrate":[8],"the":[9,13,18,22,29,36,53,59,88,101,116,121,128,133,139,143],"kinematic":[10,26,42,72,112],"parameters":[11,73],"of":[12,21,28,62,71,132,142],"serial-parallel":[14,30,134],"robot,":[15,135],"which":[16],"improves":[17],"motion":[19,140],"accuracy":[20,141],"end-effector.":[23,144],"Firstly,":[24],"a":[25,41],"model":[27,44,70],"robot":[31],"constructed":[33],"based":[34],"on":[35],"closed-loop":[37],"vector":[38,54],"method.":[39,56],"Secondly,":[40],"error":[43,50,66,90,131],"established":[46],"by":[47],"combining":[48],"geometric":[49,89],"analysis":[51],"with":[52,58,115],"differential":[55],"Then,":[57],"effective":[60],"separation":[61],"compensable":[63],"and":[64,106],"non-compensable":[65],"sources,":[67],"an":[68,77],"constructed.":[75],"Finally,":[76],"pivot":[79],"element":[80],"weighted":[81],"iterative":[82],"used":[85,98],"identify":[87],"parameters.":[91],"Through":[92],"actual":[93],"pose":[94,130],"measurement,":[95],"MATLAB":[96],"simulate":[100],"calibration":[102],"process.":[103],"The":[104],"simulation":[105],"experimental":[107],"results":[108],"show":[109],"that":[110],"after":[111],"calibration,":[113],"compared":[114],"traditional":[117],"least":[118],"squares":[119],"method,":[120],"can":[125],"significantly":[126],"reduce":[127],"end-effector":[129],"thus":[136],"effectively":[137],"improving":[138]},"counts_by_year":[],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-17T00:00:00"}