{"id":"https://openalex.org/W4390926631","doi":"https://doi.org/10.1108/ir-08-2023-0178","title":"A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysis","display_name":"A dynamic parameter identification method for the 5-DOF hybrid robot based on sensitivity analysis","publication_year":2024,"publication_date":"2024-01-16","ids":{"openalex":"https://openalex.org/W4390926631","doi":"https://doi.org/10.1108/ir-08-2023-0178"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2023-0178","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2023-0178","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/A5101292815","display_name":"Zaihua Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zaihua Luo","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009901395","display_name":"Juliang Xiao","orcid":"https://orcid.org/0000-0002-8221-8104"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Juliang Xiao","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090096737","display_name":"Sijiang Liu","orcid":"https://orcid.org/0000-0003-3204-4051"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijiang Liu","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100678361","display_name":"Mingli Wang","orcid":"https://orcid.org/0000-0001-8376-808X"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mingli Wang","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091255753","display_name":"Wei Zhao","orcid":"https://orcid.org/0000-0001-7371-4272"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wei Zhao","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100413184","display_name":"Haitao Liu","orcid":"https://orcid.org/0000-0003-3873-1899"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Haitao Liu","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101292815"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":3.7865,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93212044,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"51","issue":"2","first_page":"340","last_page":"357"},"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9970999956130981,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9970999956130981,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.813513994216919},{"id":"https://openalex.org/keywords/sobol-sequence","display_name":"Sobol sequence","score":0.7154241800308228},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6663386225700378},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.529503345489502},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.501556396484375},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.49735286831855774},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4121398627758026},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.32565563917160034},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2237624228000641},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21856415271759033},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.11963587999343872}],"concepts":[{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.813513994216919},{"id":"https://openalex.org/C49740808","wikidata":"https://www.wikidata.org/wiki/Q7550116","display_name":"Sobol sequence","level":3,"score":0.7154241800308228},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6663386225700378},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.529503345489502},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.501556396484375},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.49735286831855774},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4121398627758026},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.32565563917160034},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2237624228000641},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21856415271759033},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.11963587999343872},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1108/ir-08-2023-0178","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2023-0178","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":0.7900000214576721,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":39,"referenced_works":["https://openalex.org/W421662763","https://openalex.org/W1543424360","https://openalex.org/W1972117952","https://openalex.org/W1987940649","https://openalex.org/W1993680572","https://openalex.org/W1997617402","https://openalex.org/W1999092452","https://openalex.org/W2001524797","https://openalex.org/W2002622625","https://openalex.org/W2010179341","https://openalex.org/W2011816240","https://openalex.org/W2046886074","https://openalex.org/W2047782333","https://openalex.org/W2057303832","https://openalex.org/W2080175185","https://openalex.org/W2101589741","https://openalex.org/W2111046434","https://openalex.org/W2137300432","https://openalex.org/W2146021235","https://openalex.org/W2169015737","https://openalex.org/W2296077754","https://openalex.org/W2518735096","https://openalex.org/W2557131109","https://openalex.org/W2743719601","https://openalex.org/W2779535257","https://openalex.org/W2909089578","https://openalex.org/W2950633487","https://openalex.org/W3000375486","https://openalex.org/W3045733926","https://openalex.org/W3110104648","https://openalex.org/W3161569736","https://openalex.org/W3179367304","https://openalex.org/W3209321871","https://openalex.org/W4200466735","https://openalex.org/W4282842355","https://openalex.org/W4283576556","https://openalex.org/W4285491490","https://openalex.org/W4313491037","https://openalex.org/W4377143205"],"related_works":["https://openalex.org/W2965112349","https://openalex.org/W2382989764","https://openalex.org/W2963358185","https://openalex.org/W2949491395","https://openalex.org/W2118457152","https://openalex.org/W4237006455","https://openalex.org/W4302374767","https://openalex.org/W2944441070","https://openalex.org/W1991366063","https://openalex.org/W4300026339"],"abstract_inverted_index":{"Purpose":[0],"This":[1,169],"paper":[2,139],"aims":[3],"to":[4,23,83,177,211],"propose":[5],"a":[6,42,191],"dynamic":[7,53,59,128,151,182],"parameter":[8,54,60,129,183,192],"identification":[9,30,61,98,125,130,166,184,193,216],"method":[10,91,131,194],"based":[11,70,100,132,197],"on":[12,71,101,110,133,198],"sensitivity":[13,79,90,102,134,173,203],"analysis":[14,103,135],"for":[15,157,186,234],"the":[16,25,48,58,64,72,78,81,111,115,122,127,145,149,164,172,175,181,187,199,202,209,215,219,222,227,231,235],"5-degree":[17],"of":[18,27,36,52,63,74,80,174,201,221,230],"freedom":[19],"(DOF)":[20],"hybrid":[21,66],"robots,":[22],"solve":[24],"problems":[26],"too":[28],"many":[29],"parameters,":[31],"complex":[32],"model,":[33,217],"difficult":[34],"convergence":[35,220],"optimization":[37,223],"algorithms":[38],"and":[39,46,50,92,114,148,161,225,239],"easy-to-fall":[40],"into":[41],"locally":[43],"optimal":[44],"solution,":[45],"improve":[47,226],"efficiency":[49],"accuracy":[51,156,229],"identification.":[55],"Design/methodology/approach":[56],"First,":[57],"model":[62,152,185,233],"5-DOF":[65],"robot":[67,113],"was":[68,104],"established":[69],"principle":[73],"virtual":[75],"work.":[76],"Then,":[77],"parameters":[82,176,210],"be":[84,178,212],"identified":[85,150,179,232],"is":[86,195],"analyzed":[87],"by":[88,94],"Sobol\u2019s":[89],"verified":[93],"simulation.":[95],"Finally,":[96],"an":[97],"strategy":[99],"designed,":[105],"experiments":[106],"were":[107,117],"carried":[108],"out":[109],"real":[112],"results":[116,200],"verified.":[118],"Findings":[119],"Compared":[120],"with":[121],"traditional":[123],"full-parameter":[124,165],"method,":[126],"proposed":[136,196],"in":[137,180],"this":[138],"converges":[140],"faster":[141],"when":[142],"optimized":[143],"using":[144],"genetic":[146],"algorithm,":[147],"has":[153],"higher":[154],"prediction":[155,228],"joint":[158,236],"drive":[159],"forces":[160,238],"torques":[162],"than":[163],"models.":[167],"Originality/value":[168],"work":[170],"analyzes":[171],"first":[188],"time.":[189],"Then":[190],"analysis,":[204],"which":[205],"can":[206],"effectively":[207],"reduce":[208],"identified,":[213],"simplify":[214],"accelerate":[218],"algorithm":[224],"driving":[237],"torques.":[240]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":3}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}