{"id":"https://openalex.org/W4293067808","doi":"https://doi.org/10.1108/ir-02-2022-0042","title":"FESM-based approach for stiffness modeling, identification and updating of collaborative robots","display_name":"FESM-based approach for stiffness modeling, identification and updating of collaborative robots","publication_year":2022,"publication_date":"2022-05-24","ids":{"openalex":"https://openalex.org/W4293067808","doi":"https://doi.org/10.1108/ir-02-2022-0042"},"language":"en","primary_location":{"id":"doi:10.1108/ir-02-2022-0042","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2022-0042","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5013197124","display_name":"Mingwei Hu","orcid":"https://orcid.org/0000-0002-0522-1545"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mingwei Hu","raw_affiliation_strings":["Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038216935","display_name":"Hongwei Sun","orcid":"https://orcid.org/0000-0001-9116-3865"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hongwei Sun","raw_affiliation_strings":["Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066710594","display_name":"Liangchuang Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liangchuang Liao","raw_affiliation_strings":["Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091173051","display_name":"Jiajian He","orcid":"https://orcid.org/0009-0000-9268-921X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jiajian He","raw_affiliation_strings":["Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robot Research Division, Jiangsu Automation Research Institute, Lianyungang, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.4692,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.60749777,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"50","issue":"1","first_page":"35","last_page":"44"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9991999864578247,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.8785163164138794},{"id":"https://openalex.org/keywords/finite-element-method","display_name":"Finite element method","score":0.6719754934310913},{"id":"https://openalex.org/keywords/direct-stiffness-method","display_name":"Direct stiffness method","score":0.6296989917755127},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5712109804153442},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4772648215293884},{"id":"https://openalex.org/keywords/substructure","display_name":"Substructure","score":0.46875929832458496},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4425315856933594},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.34531956911087036},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.31890469789505005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3035142421722412},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20753777027130127}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.8785163164138794},{"id":"https://openalex.org/C135628077","wikidata":"https://www.wikidata.org/wiki/Q220184","display_name":"Finite element method","level":2,"score":0.6719754934310913},{"id":"https://openalex.org/C6213913","wikidata":"https://www.wikidata.org/wiki/Q2280635","display_name":"Direct stiffness method","level":4,"score":0.6296989917755127},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5712109804153442},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4772648215293884},{"id":"https://openalex.org/C99679407","wikidata":"https://www.wikidata.org/wiki/Q56761637","display_name":"Substructure","level":2,"score":0.46875929832458496},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4425315856933594},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.34531956911087036},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.31890469789505005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3035142421722412},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20753777027130127},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-02-2022-0042","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-02-2022-0042","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7699999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W285667148","https://openalex.org/W1969861458","https://openalex.org/W1983241812","https://openalex.org/W1991706792","https://openalex.org/W1994940578","https://openalex.org/W2012481068","https://openalex.org/W2051059089","https://openalex.org/W2066202893","https://openalex.org/W2070943497","https://openalex.org/W2076597338","https://openalex.org/W2077037859","https://openalex.org/W2088948858","https://openalex.org/W2092477976","https://openalex.org/W2114252585","https://openalex.org/W2169164876","https://openalex.org/W2331138946","https://openalex.org/W2588666655","https://openalex.org/W2779535257","https://openalex.org/W2794489265","https://openalex.org/W2883385699","https://openalex.org/W2898417639","https://openalex.org/W2906845023","https://openalex.org/W2970795577","https://openalex.org/W3027527383","https://openalex.org/W4233227660","https://openalex.org/W4236436293"],"related_works":["https://openalex.org/W2377486267","https://openalex.org/W2999870925","https://openalex.org/W2384697501","https://openalex.org/W1644602915","https://openalex.org/W2646836420","https://openalex.org/W1974593917","https://openalex.org/W4320729678","https://openalex.org/W4285592458","https://openalex.org/W2390321940","https://openalex.org/W2123074364"],"abstract_inverted_index":{"Purpose":[0],"The":[1,75,143],"purpose":[2],"of":[3,17,56,78,87,96,104,151,199],"this":[4,60,168],"paper":[5],"is":[6,81,118,192],"to":[7,120,194,210],"introduce":[8],"a":[9],"method":[10,22,61,67,73,117,154,169,191],"for":[11],"stiffness":[12,39,44,58,76,102,122,165,189,220],"modeling,":[13],"identification":[14],"and":[15,26,30,41,53,100,110,136,147,158,218],"updating":[16],"collaborative":[18],"robots":[19],"(cobots).":[20],"This":[21],"operates":[23],"in":[24,176,182],"real-time":[25],"with":[27,163],"high":[28,173,177],"precision":[29],"can":[31,107,126],"eliminate":[32,127,211],"the":[33,37,42,50,57,63,70,79,93,97,101,113,128,132,137,148,152,196,200,203,212,216],"modeling":[34,54,129,166,174,190,197,213],"error":[35,130,146,214],"between":[36,131,215],"actual":[38,133,219],"model":[40,77,135],"theoretical":[43,138,217],"model.":[45,141],"Design/methodology/approach":[46],"To":[47],"simultaneously":[48],"ensure":[49],"computational":[51],"efficiency":[52],"accuracy":[55,175,198],"model,":[59],"introduces":[62],"finite":[64,139],"element":[65,140],"substructure":[66],"(FESM)":[68],"into":[69,202],"virtual":[71,89],"joint":[72],"(VJM).":[74],"cobots":[80],"built":[82],"by":[83,112],"integrating":[84],"several":[85],"6-degree":[86],"freedom":[88],"joints":[90],"that":[91],"represent":[92],"elastic":[94],"deformation":[95],"cobot":[98],"modules,":[99],"matrices":[103],"these":[105],"modules":[106],"be":[108],"identified":[109],"obtained":[111],"FESM.":[114],"A":[115,187],"model-updating":[116],"proposed":[119,153,209],"identify":[121],"influence":[123,206],"coefficients,":[124],"which":[125],"prototype":[134],"Findings":[142],"average":[144],"relative":[145],"cycle":[149],"time":[150],"are":[155,208],"approximately":[156],"6.14%":[157],"1.31":[159],"ms,":[160],"respectively.":[161],"Compared":[162],"other":[164],"methods,":[167],"not":[170],"only":[171],"has":[172],"dexterity":[178,184],"poses":[179],"but":[180],"also":[181],"low":[183],"poses.":[185],"Originality/value":[186],"hybrid":[188],"introduced":[193],"integrate":[195],"FESM":[201],"VJM.":[204],"Stiffness":[205],"coefficients":[207],"models.":[221]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
