{"id":"https://openalex.org/W2022294197","doi":"https://doi.org/10.1108/ir-09-2014-0396","title":"Absolute accuracy analysis and improvement of a hybrid 6-DOF medical robot","display_name":"Absolute accuracy analysis and improvement of a hybrid 6-DOF medical robot","publication_year":2015,"publication_date":"2015-01-14","ids":{"openalex":"https://openalex.org/W2022294197","doi":"https://doi.org/10.1108/ir-09-2014-0396","mag":"2022294197"},"language":"en","primary_location":{"id":"doi:10.1108/ir-09-2014-0396","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2014-0396","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/A5052093891","display_name":"Ahmed Joubair","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":true,"raw_author_name":"Ahmed Joubair","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068637458","display_name":"Longfei Zhao","orcid":"https://orcid.org/0000-0001-6119-3924"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Long Fei Zhao","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072781167","display_name":"Pascal Bigras","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pascal Bigras","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5041347819","display_name":"Ilian A. Bonev","orcid":"https://orcid.org/0000-0002-9663-2496"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ilian Bonev","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]},{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada#TAB#","institution_ids":["https://openalex.org/I9736820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5052093891"],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":6.4746,"has_fulltext":false,"cited_by_count":47,"citation_normalized_percentile":{"value":0.96545355,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"42","issue":"1","first_page":"44","last_page":"53"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9993000030517578,"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":0.9993000030517578,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9811999797821045,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.978600025177002,"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/observability","display_name":"Observability","score":0.9178992509841919},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.84621262550354},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.7997294664382935},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7779203057289124},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7777769565582275},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7302988767623901},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5599128603935242},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5374593734741211},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4818045496940613},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4779365360736847},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.465383917093277},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3901808261871338},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.34653007984161377},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21551421284675598},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.15708822011947632},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.12909400463104248},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07581126689910889},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07134732604026794},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06664007902145386}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.9178992509841919},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.84621262550354},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.7997294664382935},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7779203057289124},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7777769565582275},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7302988767623901},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5599128603935242},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5374593734741211},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4818045496940613},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4779365360736847},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.465383917093277},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3901808261871338},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.34653007984161377},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21551421284675598},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.15708822011947632},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.12909400463104248},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07581126689910889},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07134732604026794},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06664007902145386},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"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/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1108/ir-09-2014-0396","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-09-2014-0396","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"},{"id":"pmh:oai:espace2.etsmtl.ca:9365","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/9365/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Non \u00e9valu\u00e9 par les pairs"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7599999904632568}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W396641932","https://openalex.org/W1493455551","https://openalex.org/W1963736910","https://openalex.org/W1979504223","https://openalex.org/W1995128555","https://openalex.org/W1996772426","https://openalex.org/W2003401806","https://openalex.org/W2031286453","https://openalex.org/W2037235723","https://openalex.org/W2045999511","https://openalex.org/W2079933384","https://openalex.org/W2080904986","https://openalex.org/W2095743670","https://openalex.org/W2108197520","https://openalex.org/W2114866967","https://openalex.org/W2116108132","https://openalex.org/W2118521549","https://openalex.org/W2119139471","https://openalex.org/W2121342929","https://openalex.org/W2128044034","https://openalex.org/W2128963970","https://openalex.org/W2144929124","https://openalex.org/W2170347301","https://openalex.org/W2359887761","https://openalex.org/W2741552286"],"related_works":["https://openalex.org/W2382556490","https://openalex.org/W4382999294","https://openalex.org/W2620696154","https://openalex.org/W2556064314","https://openalex.org/W2108197520","https://openalex.org/W2022294197","https://openalex.org/W2048576502","https://openalex.org/W2771857660","https://openalex.org/W2970842683","https://openalex.org/W1965443773"],"abstract_inverted_index":{"Purpose":[0],"\u2013":[1,57,114,186],"The":[2,24,58,74,89,224],"purpose":[3],"of":[4,18,41,134,141],"this":[5,210,242],"paper":[6,188,211],"is":[7,45,61,103,163,178],"to":[8,14,29,48,138,170,182,197,230,237],"describe":[9],"a":[10,19,35,70,86,190,204,213],"calibration":[11,26,53,59,90,102,127,136,169,191],"method":[12,60,192,226],"developed":[13],"improve":[15],"the":[16,31,50,64,99,110,118,125,132,142,152,158,175,200,216,222,238],"accuracy":[17,33],"six":[20],"degrees-of-freedom":[21],"medical":[22,206,234],"robot.":[23,207],"proposed":[25,220,225],"approach":[27],"aims":[28],"enhance":[30],"robot\u2019s":[32,144,159],"in":[34,106,221,241],"specific":[36],"target":[37,111],"workspace.":[38,112],"A":[39],"comparison":[40,214],"five":[42,217],"observability":[43,96,121,218],"indices":[44,219],"also":[46,130],"done":[47],"choose":[49],"most":[51,119,140],"appropriate":[52,120],"robot":[54,235,239],"configurations.":[55,128],"Design/methodology/approach":[56],"based":[62],"on":[63],"forward":[65],"kinematic":[66,201],"approach,":[67],"which":[68,82,193],"uses":[69],"nonlinear":[71],"optimization":[72],"model.":[73],"used":[75],"experimental":[76],"data":[77],"are":[78,83,92],"84":[79],"end-effector":[80],"positions,":[81],"measured":[84],"using":[85],"laser":[87],"tracker.":[88],"configurations":[91],"chosen":[93],"through":[94],"an":[95],"analysis,":[97],"while":[98],"validation":[100],"after":[101],"carried":[104],"out":[105],"336":[107],"positions":[108],"within":[109],"Findings":[113],"Simulations":[115],"allowed":[116],"finding":[117],"index":[122],"for":[123,203],"choosing":[124],"optimal":[126],"They":[129],"showed":[131,156],"ability":[133],"our":[135],"model":[137],"identify":[139,199],"considered":[143],"parameters,":[145],"despite":[146],"measurement":[147],"errors.":[148],"Experimental":[149],"tests":[150],"confirmed":[151],"simulation":[153],"findings":[154],"and":[155,174],"that":[157],"mean":[160],"position":[161],"error":[162,177],"reduced":[164,179],"from":[165,180],"3.992":[166],"mm":[167,172],"before":[168],"0.387":[171],"after,":[173],"maximum":[176],"5.957":[181],"0.851":[183],"mm.":[184],"Originality/value":[185],"This":[187],"presents":[189,212],"makes":[194],"it":[195],"possible":[196],"accurately":[198],"errors":[202],"novel":[205],"In":[208],"addition,":[209],"between":[215],"literature.":[223],"might":[227],"be":[228],"applied":[229],"any":[231],"industrial":[232],"or":[233],"similar":[236],"studied":[240],"paper.":[243]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":4},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":7},{"year":2018,"cited_by_count":8},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":1}],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2025-10-10T00:00:00"}