{"id":"https://openalex.org/W3124013522","doi":"https://doi.org/10.1109/access.2021.3053356","title":"On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy","display_name":"On-Line Precision Calibration of Mobile Manipulators Based on the Multi-Level Measurement Strategy","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3124013522","doi":"https://doi.org/10.1109/access.2021.3053356","mag":"3124013522"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3053356","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053356","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330517.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330517.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5102709994","display_name":"Sheng Jian","orcid":"https://orcid.org/0000-0003-1078-5000"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sheng Jian","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0003-1078-5000","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027642817","display_name":"Xiansheng Yang","orcid":"https://orcid.org/0000-0002-7123-6745"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiansheng Yang","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-7123-6745","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075823078","display_name":"Xianwei Yuan","orcid":"https://orcid.org/0009-0003-9357-8804"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianwei Yuan","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087749601","display_name":"Yunjiang Lou","orcid":"https://orcid.org/0000-0001-8203-7795"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunjiang Lou","raw_affiliation_strings":["School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0001-8203-7795","affiliations":[{"raw_affiliation_string":"School of Mechatronics Engineering and Automation, Harbin Institute of Technology (Shenzhen), Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036693636","display_name":"Yao Jiang","orcid":"https://orcid.org/0000-0002-6036-6413"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yao Jiang","raw_affiliation_strings":["Institute of Manufacturing Engineering, Tsinghua University, Beijing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute of Manufacturing Engineering, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012109138","display_name":"Genliang Chen","orcid":"https://orcid.org/0000-0002-1011-2116"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Genliang Chen","raw_affiliation_strings":["State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China"],"raw_orcid":"https://orcid.org/0000-0002-1011-2116","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5084558732","display_name":"Guoyuan Liang","orcid":"https://orcid.org/0000-0002-5207-6969"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"government","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210145761","display_name":"Shenzhen Institutes of Advanced Technology","ror":"https://ror.org/04gh4er46","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210145761"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guoyuan Liang","raw_affiliation_strings":["Center for Intelligent and Biomimetic Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China"],"raw_orcid":"https://orcid.org/0000-0002-5207-6969","affiliations":[{"raw_affiliation_string":"Center for Intelligent and Biomimetic Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen, China","institution_ids":["https://openalex.org/I4210145761","https://openalex.org/I19820366"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.6943,"has_fulltext":true,"cited_by_count":8,"citation_normalized_percentile":{"value":0.68141241,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"9","issue":null,"first_page":"17161","last_page":"17173"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9991000294685364,"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":0.9991000294685364,"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":0.9990000128746033,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/calibration","display_name":"Calibration","score":0.7284382581710815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6647996306419373},{"id":"https://openalex.org/keywords/line","display_name":"Line (geometry)","score":0.4998171329498291},{"id":"https://openalex.org/keywords/measurement-uncertainty","display_name":"Measurement uncertainty","score":0.46387776732444763},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3742889165878296},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33397039771080017},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.324846088886261},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14292940497398376},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08043563365936279},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07692471146583557}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7284382581710815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6647996306419373},{"id":"https://openalex.org/C198352243","wikidata":"https://www.wikidata.org/wiki/Q37105","display_name":"Line (geometry)","level":2,"score":0.4998171329498291},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.46387776732444763},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3742889165878296},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33397039771080017},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.324846088886261},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14292940497398376},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08043563365936279},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07692471146583557},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3053356","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053356","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330517.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:1f26a98dcb364b54803d71fc92da182f","is_oa":true,"landing_page_url":"https://doaj.org/article/1f26a98dcb364b54803d71fc92da182f","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 9, Pp 17161-17173 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3053356","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3053356","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09330517.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7546457716","display_name":null,"funder_award_id":"U1713202","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3124013522.pdf","grobid_xml":"https://content.openalex.org/works/W3124013522.grobid-xml"},"referenced_works_count":37,"referenced_works":["https://openalex.org/W1573376273","https://openalex.org/W1582353822","https://openalex.org/W1792003463","https://openalex.org/W1998383564","https://openalex.org/W2001856064","https://openalex.org/W2003599776","https://openalex.org/W2006469440","https://openalex.org/W2009545177","https://openalex.org/W2028012046","https://openalex.org/W2046481736","https://openalex.org/W2056731056","https://openalex.org/W2061871196","https://openalex.org/W2065345266","https://openalex.org/W2081535564","https://openalex.org/W2081616046","https://openalex.org/W2084387117","https://openalex.org/W2140781725","https://openalex.org/W2162581882","https://openalex.org/W2167916881","https://openalex.org/W2498686302","https://openalex.org/W2501896249","https://openalex.org/W2558767819","https://openalex.org/W2564618422","https://openalex.org/W2568701359","https://openalex.org/W2572031172","https://openalex.org/W2589417690","https://openalex.org/W2747588053","https://openalex.org/W2769566343","https://openalex.org/W2771527697","https://openalex.org/W2798121587","https://openalex.org/W2809735786","https://openalex.org/W2901049453","https://openalex.org/W2907202657","https://openalex.org/W2950633487","https://openalex.org/W3043378470","https://openalex.org/W3103003071","https://openalex.org/W6780900297"],"related_works":["https://openalex.org/W1982160337","https://openalex.org/W1971380437","https://openalex.org/W1983548084","https://openalex.org/W3130844878","https://openalex.org/W581140221","https://openalex.org/W4233192264","https://openalex.org/W2106088778","https://openalex.org/W2227715107","https://openalex.org/W2118361755","https://openalex.org/W1966448314"],"abstract_inverted_index":{"Autonomous":[0],"industrial":[1,32],"mobile":[2,10,154],"manipulator":[3],"(AIMM),":[4],"which":[5,85],"is":[6,45,114],"composed":[7],"of":[8,16,19,54,71,111,124,130,153,168],"a":[9,13,80],"platform":[11,155],"and":[12,25,91,94,156],"robot":[14,131],"arm":[15],"six":[17],"degrees":[18],"freedom":[20],"(DoFs),":[21],"can":[22,135],"move":[23],"autonomously":[24],"perform":[26,136],"dexterous":[27],"tasks":[28,139],"independently":[29],"in":[30,41,47,75],"the":[31,60,69,87,95,108,121,128,133,146,150,157,160,176],"environment.":[33],"A":[34],"novel":[35],"on-line":[36,137],"calibration":[37,52,63,74,138,171,177],"system":[38,113],"for":[39,64,149,159],"AIMM":[40,134,169],"real":[42],"manufacturing":[43],"workshop":[44],"proposed":[46],"this":[48],"paper.":[49],"Compared":[50],"to":[51],"scenarios":[53],"fixed-base":[55],"robot,":[56],"we":[57,78],"focus":[58],"on":[59,120,175],"large-space":[61],"autonomous":[62],"AIMM.":[65],"To":[66],"cope":[67],"with":[68],"issue":[70],"high":[72],"precision":[73],"large":[76],"space,":[77],"propose":[79],"multi-level":[81],"guided-based":[82],"measurement":[83,101,112],"strategy,":[84],"includes":[86],"low-cost":[88],"vision":[89],"positioning":[90,166],"guidance":[92],"system,":[93],"high-precision":[96,151],"distributed":[97],"base":[98],"station":[99],"(BS)":[100],"system.":[102],"The":[103,164],"corresponding":[104],"experiment":[105],"proves":[106],"that":[107],"total":[109],"uncertainty":[110],"less":[115],"than":[116],"0.1":[117],"mm.":[118],"Based":[119],"measured":[122],"data":[123],"end-effector":[125],"installed":[126],"at":[127],"end":[129],"arm,":[132],"anywhere":[140],"automatically":[141],"without":[142],"taking":[143],"into":[144],"account":[145],"expensive":[147],"devices":[148],"location":[152],"downtime":[158],"robotic":[161],"off-line":[162],"calibration.":[163],"mean":[165],"error":[167],"after":[170],"reduces":[172],"93%":[173],"based":[174],"experiment.":[178]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}