{"id":"https://openalex.org/W4386544025","doi":"https://doi.org/10.1108/ir-05-2023-0115","title":"Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker","display_name":"Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker","publication_year":2023,"publication_date":"2023-09-08","ids":{"openalex":"https://openalex.org/W4386544025","doi":"https://doi.org/10.1108/ir-05-2023-0115"},"language":"en","primary_location":{"id":"doi:10.1108/ir-05-2023-0115","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2023-0115","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/A5067621763","display_name":"Ling Wang","orcid":"https://orcid.org/0000-0003-1226-2801"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ling Wang","raw_affiliation_strings":["Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101770351","display_name":"Xiaoliang Wu","orcid":"https://orcid.org/0009-0003-5468-5738"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoliang Wu","raw_affiliation_strings":["Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112996903","display_name":"Zeng Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeng Kang","raw_affiliation_strings":["Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Intelligent Manufacturing Quality Big Data Tracing and Analysis of Zhejiang Province, China Jiliang University, Hangzhou, China and College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101906990","display_name":"Yanfeng Gao","orcid":"https://orcid.org/0000-0002-5152-6091"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfeng Gao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102850299","display_name":"Xiai Chen","orcid":"https://orcid.org/0009-0007-6054-5394"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiai Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101634370","display_name":"Binrui Wang","orcid":"https://orcid.org/0000-0002-3521-9999"},"institutions":[{"id":"https://openalex.org/I55538621","display_name":"China Jiliang University","ror":"https://ror.org/05v1y0t93","country_code":"CN","type":"education","lineage":["https://openalex.org/I55538621"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binrui Wang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China"],"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou, China","institution_ids":["https://openalex.org/I55538621"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5067621763"],"corresponding_institution_ids":["https://openalex.org/I55538621"],"apc_list":null,"apc_paid":null,"fwci":1.5008,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.82444677,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"50","issue":"6","first_page":"993","last_page":"999"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9991000294685364,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9945999979972839,"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/robot","display_name":"Robot","score":0.7452580332756042},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.7380118370056152},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7244449853897095},{"id":"https://openalex.org/keywords/rotation","display_name":"Rotation (mathematics)","score":0.5707954168319702},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.5550899505615234},{"id":"https://openalex.org/keywords/transmission","display_name":"Transmission (telecommunications)","score":0.5489809513092041},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.5383949875831604},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.479894757270813},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.47169116139411926},{"id":"https://openalex.org/keywords/instant-centre-of-rotation","display_name":"Instant centre of rotation","score":0.46235570311546326},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.45017126202583313},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.41582173109054565},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39274322986602783},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.38547271490097046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37661707401275635},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.37191981077194214},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3400341272354126},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32134392857551575},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.2986709475517273},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2651768922805786},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.26161491870880127},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2155860960483551},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.17793875932693481},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13888701796531677},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12077188491821289},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10903644561767578},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.09345743060112}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7452580332756042},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.7380118370056152},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7244449853897095},{"id":"https://openalex.org/C74050887","wikidata":"https://www.wikidata.org/wiki/Q848368","display_name":"Rotation (mathematics)","level":2,"score":0.5707954168319702},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.5550899505615234},{"id":"https://openalex.org/C761482","wikidata":"https://www.wikidata.org/wiki/Q118093","display_name":"Transmission (telecommunications)","level":2,"score":0.5489809513092041},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.5383949875831604},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.479894757270813},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.47169116139411926},{"id":"https://openalex.org/C76724020","wikidata":"https://www.wikidata.org/wiki/Q1429043","display_name":"Instant centre of rotation","level":3,"score":0.46235570311546326},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.45017126202583313},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.41582173109054565},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39274322986602783},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.38547271490097046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37661707401275635},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.37191981077194214},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3400341272354126},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32134392857551575},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.2986709475517273},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2651768922805786},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.26161491870880127},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2155860960483551},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.17793875932693481},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13888701796531677},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12077188491821289},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10903644561767578},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.09345743060112},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-05-2023-0115","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-05-2023-0115","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":[{"display_name":"Industry, innovation and infrastructure","score":0.4399999976158142,"id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W2081535564","https://openalex.org/W2787358691","https://openalex.org/W2913638934","https://openalex.org/W2974168205","https://openalex.org/W2994220412","https://openalex.org/W2996675232","https://openalex.org/W3000315236","https://openalex.org/W3094486509","https://openalex.org/W3176776750","https://openalex.org/W4206936112","https://openalex.org/W4225149920","https://openalex.org/W4281854492","https://openalex.org/W4284895409","https://openalex.org/W4301594756"],"related_works":["https://openalex.org/W2771857660","https://openalex.org/W3174748874","https://openalex.org/W1986271109","https://openalex.org/W4366146778","https://openalex.org/W2247785048","https://openalex.org/W3128516213","https://openalex.org/W1988479431","https://openalex.org/W2364201224","https://openalex.org/W4311108013","https://openalex.org/W2040263402"],"abstract_inverted_index":{"Purpose":[0],"In":[1,131,170],"traditional":[2],"calibration":[3,62,164,241,267],"methods":[4],"of":[5,8,12,27,38,54,76,101,122,150,166,176,192,220,228,253,279],"kinematics":[6],"parameters":[7,14,47,278],"industrial":[9,39,77,85,254,280],"robots,":[10,40],"dozens":[11],"model":[13,28,46],"are":[15,104,184,200,205],"identified":[16,105],"together":[17],"based":[18,112,135],"on":[19,113,136],"an":[20,90,154],"optimization":[21,129],"procedure.":[22],"Due":[23],"to":[24,31,58,159,262],"different":[25],"contributions":[26],"parameter":[29],"errors":[30,227],"the":[32,52,102,107,118,126,137,146,151,161,173,177,193,197,203,214,221,224,229,276],"tool":[33],"center":[34,119],"point":[35],"positioning":[36,285],"error":[37],"obtaining":[41],"good":[42],"results":[43,191,204,209],"for":[44,65,98,144,243,274],"all":[45],"is":[48,57,87,140,156,259],"very":[49],"difficult.":[50],"Therefore,":[51],"purpose":[53],"this":[55,93,171,264],"paper":[56],"propose":[59,238],"a":[60,133,187,239],"sequential":[61,163,240,266],"method":[63,111,134,165,242],"specifically":[64],"transmission":[66,96,167,244],"ratio":[67,149,245],"parameters,":[68,246],"which":[69,116],"includes":[70],"reduction":[71,194,215,248],"ratios":[72,75,97,195,199,216,219,249,252],"and":[73,120,142,180,196,202,217,250,282],"coupling":[74,148,198,218,251],"robot":[78,86,103,230,255],"joints.":[79,256],"Design/methodology/approach":[80],"The":[81,95,208,236],"ABB":[82,222],"IRB":[83],"1410":[84],"considered":[88],"as":[89],"example":[91],"in":[92],"study.":[94],"each":[99],"joint":[100,123,182],"using":[106],"spatial":[108,114],"circle":[109],"fitting":[110],"vectors,":[115],"fit":[117],"radius":[121],"rotation":[124,225],"with":[125],"least":[127],"squares":[128],"algorithm.":[130],"addition,":[132],"Rodrigues\u2019":[138],"formula":[139],"designed":[141],"presented":[143],"identifying":[145],"actual":[147,174],"robot.":[152],"Subsequently,":[153],"experiment":[155,258],"carried":[157,260],"out":[158,261],"verify":[160,263],"proposed":[162,265],"ratios.":[168],"Findings":[169],"experiment,":[172],"positions":[175],"linkages":[178],"before":[179],"after":[181],"rotations":[183],"measured":[185],"by":[186,212],"laser":[188],"tracker.":[189],"Accurate":[190],"calculated,":[201],"verified":[206],"experimentally.":[207],"show":[210],"that":[211],"calibrating":[213,275],"robot,":[223],"angle":[226],"joints":[231],"can":[232],"be":[233,272],"reduced.":[234],"Originality/value":[235],"authors":[237],"including":[247],"An":[257],"method.":[268],"This":[269],"study":[270],"may":[271],"beneficial":[273],"kinematic":[277],"robots":[281],"improving":[283],"their":[284],"accuracy.":[286]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}