{"id":"https://openalex.org/W2904248314","doi":"https://doi.org/10.1108/ir-07-2018-0141","title":"An improved kinematic model for serial robot calibration based on local POE formula using position measurement","display_name":"An improved kinematic model for serial robot calibration based on local POE formula using position measurement","publication_year":2018,"publication_date":"2018-12-07","ids":{"openalex":"https://openalex.org/W2904248314","doi":"https://doi.org/10.1108/ir-07-2018-0141","mag":"2904248314"},"language":"en","primary_location":{"id":"doi:10.1108/ir-07-2018-0141","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2018-0141","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: An International Journal","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/A5059947452","display_name":"Hua Liu","orcid":"https://orcid.org/0000-0003-2060-5819"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hua Liu","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Zhejiang, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Zhejiang, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Weidong Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weidong Zhu","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027234794","display_name":"Huiyue Dong","orcid":"https://orcid.org/0000-0003-4107-2150"},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huiyue Dong","raw_affiliation_strings":["Department of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]},{"author_position":"last","author":{"id":null,"display_name":"Yinglin Ke","orcid":null},"institutions":[{"id":"https://openalex.org/I76130692","display_name":"Zhejiang University","ror":"https://ror.org/00a2xv884","country_code":"CN","type":"education","lineage":["https://openalex.org/I76130692"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinglin Ke","raw_affiliation_strings":["The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China and Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China and Key Laboratory of Advanced Manufacturing Technology of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, China","institution_ids":["https://openalex.org/I76130692"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I76130692"],"apc_list":null,"apc_paid":null,"fwci":1.1715,"has_fulltext":false,"cited_by_count":25,"citation_normalized_percentile":{"value":0.79040714,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"45","issue":"5","first_page":"573","last_page":"584"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9916999936103821,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.9847999811172485,"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/kinematics","display_name":"Kinematics","score":0.6560318470001221},{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.5862658619880676},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5768471956253052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5382923483848572},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.5097243189811707},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.4984433650970459},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.48285871744155884},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4522772431373596},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.448074609041214},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4330790638923645},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4260268211364746},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3848286271095276},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38060516119003296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2814919948577881},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.247878760099411},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.14966228604316711},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13879871368408203}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6560318470001221},{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.5862658619880676},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5768471956253052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5382923483848572},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.5097243189811707},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.4984433650970459},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.48285871744155884},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4522772431373596},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.448074609041214},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4330790638923645},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4260268211364746},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3848286271095276},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38060516119003296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2814919948577881},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.247878760099411},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.14966228604316711},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13879871368408203},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-07-2018-0141","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-07-2018-0141","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: An International Journal","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/W134451811","https://openalex.org/W1561300068","https://openalex.org/W1564897360","https://openalex.org/W1966063170","https://openalex.org/W1968498431","https://openalex.org/W2007483019","https://openalex.org/W2019067872","https://openalex.org/W2023398310","https://openalex.org/W2027401668","https://openalex.org/W2056834052","https://openalex.org/W2062691475","https://openalex.org/W2065693146","https://openalex.org/W2084387117","https://openalex.org/W2109483394","https://openalex.org/W2124744005","https://openalex.org/W2126721296","https://openalex.org/W2137878063","https://openalex.org/W2140781725","https://openalex.org/W2148756062","https://openalex.org/W2168686184","https://openalex.org/W2414319016","https://openalex.org/W2583137656","https://openalex.org/W2771415261","https://openalex.org/W2804081787","https://openalex.org/W4245081424","https://openalex.org/W4256407389"],"related_works":["https://openalex.org/W2219869035","https://openalex.org/W2112465406","https://openalex.org/W2393524901","https://openalex.org/W1778315801","https://openalex.org/W4214678870","https://openalex.org/W2053241953","https://openalex.org/W2222614663","https://openalex.org/W2973099332","https://openalex.org/W947851733","https://openalex.org/W2159499127"],"abstract_inverted_index":{"Purpose":[0],"This":[1,132],"paper":[2],"aims":[3],"to":[4,16,124,138,155,193],"propose":[5],"a":[6,93,98,139],"calibration":[7,87,133,179,205],"model":[8,32,109,113,180,196],"for":[9,166,201],"kinematic":[10,51,178,204],"parameters":[11],"identification":[12,128],"of":[13,26,40,43,80,209],"serial":[14,202],"robot":[15,96,203],"improve":[17],"its":[18],"positioning":[19,146],"accuracy,":[20,116],"which":[21,48,158,184],"only":[22],"requires":[23],"position":[24,66],"measurement":[25],"the":[27,41,54,63,78,81,107,111,162,186],"end-effector.":[28],"Design/methodology/approach":[29],"The":[30,103,144],"proposed":[31,82,108],"is":[33,159],"established":[34],"based":[35],"on":[36,92],"local":[37],"frame":[38],"representation":[39],"product":[42],"exponentials":[44],"(local":[45],"POE)":[46],"formula,":[47],"integrates":[49],"all":[50],"errors":[52],"into":[53],"twist":[55],"coordinates":[56],"errors;":[57],"then":[58],"they":[59],"are":[60,122],"identified":[61],"with":[62,206],"tool":[64],"frame\u2019":[65],"deviations":[67],"simultaneously":[68],"by":[69],"an":[70,126],"iterative":[71],"least":[72],"squares":[73],"algorithm.":[74],"Findings":[75],"To":[76],"verify":[77],"effectiveness":[79],"method,":[83],"extensive":[84],"simulations":[85],"and":[86,97,118,176,189,211],"experiments":[88],"have":[89],"been":[90,136,182],"conducted":[91],"4DOF":[94],"SCARA":[95],"5DOF":[99],"drilling":[100,142,169],"machine,":[101],"respectively.":[102],"results":[104],"indicate":[105],"that":[106],"outperforms":[110],"existing":[112],"in":[114,161,170],"convergence,":[115],"robustness":[117],"efficiency;":[119],"fewer":[120],"measurements":[121],"needed":[123],"gain":[125],"acceptable":[127],"result.":[129],"Practical":[130],"implications":[131],"method":[134],"has":[135,181],"applied":[137],"variable-radius":[140],"circumferential":[141],"machine.":[143],"machine\u2019s":[145],"accuracy":[147],"can":[148,197],"be":[149,198],"significantly":[150],"improved":[151],"from":[152],"11.153":[153],"initially":[154],"0.301":[156],"mm,":[157],"well":[160],"tolerance":[163],"(\u00b10.5":[164],"mm)":[165],"fastener":[167],"hole":[168],"aircraft":[171],"assembly.":[172],"Originality/value":[173],"An":[174],"accurate":[175],"efficient":[177],"proposed,":[183],"satisfies":[185],"completeness,":[187],"continuity":[188],"minimality":[190],"requirements.":[191],"Due":[192],"generality,":[194],"this":[195],"widely":[199],"used":[200],"any":[207],"combination":[208],"revolute":[210],"prismatic":[212],"joints.":[213]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":4}],"updated_date":"2026-07-21T08:15:58.654021","created_date":"2025-10-10T00:00:00"}