{"id":"https://openalex.org/W3153128647","doi":"https://doi.org/10.1109/access.2021.3073671","title":"Method of Postures Selection for Industrial Robot Joint Stiffness Identification","display_name":"Method of Postures Selection for Industrial Robot Joint Stiffness Identification","publication_year":2021,"publication_date":"2021-01-01","ids":{"openalex":"https://openalex.org/W3153128647","doi":"https://doi.org/10.1109/access.2021.3073671","mag":"3153128647"},"language":"en","primary_location":{"id":"doi:10.1109/access.2021.3073671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073671","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09406013.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/ielx7/6287639/9312710/09406013.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100359702","display_name":"Yiran Zhang","orcid":"https://orcid.org/0000-0003-3926-5295"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yiran Zhang","raw_affiliation_strings":["Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0003-3926-5295","affiliations":[{"raw_affiliation_string":"Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081599861","display_name":"Kai Guo","orcid":"https://orcid.org/0000-0002-3451-7732"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Guo","raw_affiliation_strings":["Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-3451-7732","affiliations":[{"raw_affiliation_string":"Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101758767","display_name":"Jie Sun","orcid":"https://orcid.org/0000-0001-8913-5654"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Sun","raw_affiliation_strings":["Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Key Laboratory of High-efficiency and Clean Mechanical Manufacture, National Demonstration Center for Experimental Mechanical Engineering Education, School of Mechanical Engineering, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]},{"raw_affiliation_string":"Research Center for Aeronautical Component Manufacturing Technology and Equipment, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101906538","display_name":"Yujing Sun","orcid":"https://orcid.org/0000-0002-7395-9453"},"institutions":[{"id":"https://openalex.org/I152269853","display_name":"Qilu University of Technology","ror":"https://ror.org/04hyzq608","country_code":"CN","type":"education","lineage":["https://openalex.org/I152269853"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujing Sun","raw_affiliation_strings":["School of Mechanical and Automotive Engineering, Qilu University of Technology, Jinan, China"],"raw_orcid":"https://orcid.org/0000-0002-7395-9453","affiliations":[{"raw_affiliation_string":"School of Mechanical and Automotive Engineering, Qilu University of Technology, Jinan, China","institution_ids":["https://openalex.org/I152269853"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100359702"],"corresponding_institution_ids":["https://openalex.org/I154099455"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.3877,"has_fulltext":true,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80490296,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"9","issue":null,"first_page":"62583","last_page":"62592"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9973999857902527,"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":0.9973999857902527,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.9962000250816345,"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/T11159","display_name":"Manufacturing Process and Optimization","score":0.9944000244140625,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/stiffness","display_name":"Stiffness","score":0.7320497035980225},{"id":"https://openalex.org/keywords/joint-stiffness","display_name":"Joint stiffness","score":0.7031371593475342},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.6806222200393677},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6525281667709351},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6190433502197266},{"id":"https://openalex.org/keywords/machining","display_name":"Machining","score":0.5913891196250916},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5907372236251831},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.575989842414856},{"id":"https://openalex.org/keywords/selection","display_name":"Selection (genetic algorithm)","score":0.5020689964294434},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4978971481323242},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.49277833104133606},{"id":"https://openalex.org/keywords/stiffness-matrix","display_name":"Stiffness matrix","score":0.4328482151031494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40952473878860474},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2898257076740265},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.21604430675506592},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.15628647804260254}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7320497035980225},{"id":"https://openalex.org/C2781415944","wikidata":"https://www.wikidata.org/wiki/Q559210","display_name":"Joint stiffness","level":3,"score":0.7031371593475342},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.6806222200393677},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6525281667709351},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6190433502197266},{"id":"https://openalex.org/C523214423","wikidata":"https://www.wikidata.org/wiki/Q192047","display_name":"Machining","level":2,"score":0.5913891196250916},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5907372236251831},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.575989842414856},{"id":"https://openalex.org/C81917197","wikidata":"https://www.wikidata.org/wiki/Q628760","display_name":"Selection (genetic algorithm)","level":2,"score":0.5020689964294434},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4978971481323242},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.49277833104133606},{"id":"https://openalex.org/C14198674","wikidata":"https://www.wikidata.org/wiki/Q3851930","display_name":"Stiffness matrix","level":3,"score":0.4328482151031494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40952473878860474},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2898257076740265},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.21604430675506592},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.15628647804260254},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2021.3073671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073671","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09406013.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:63fc9ac6e6964cf8aa34e8f0cf1d8b0a","is_oa":true,"landing_page_url":"https://doaj.org/article/63fc9ac6e6964cf8aa34e8f0cf1d8b0a","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 62583-62592 (2021)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2021.3073671","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2021.3073671","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9312710/09406013.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":[{"id":"https://metadata.un.org/sdg/9","score":0.49000000953674316,"display_name":"Industry, innovation and infrastructure"}],"awards":[{"id":"https://openalex.org/G3621400722","display_name":null,"funder_award_id":"2019GGX104006","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"},{"id":"https://openalex.org/G3982978841","display_name":null,"funder_award_id":"2019JZZY020318","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"},{"id":"https://openalex.org/G4444098313","display_name":null,"funder_award_id":"2019GGX104008","funder_id":"https://openalex.org/F4320333596","funder_display_name":"Key Technology Research and Development Program of Shandong"},{"id":"https://openalex.org/G4720170329","display_name":null,"funder_award_id":"51975335","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6875143192","display_name":null,"funder_award_id":"51605256","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7067094407","display_name":null,"funder_award_id":"2019GGX104008","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G772612937","display_name":null,"funder_award_id":"10000086393113","funder_id":"https://openalex.org/F4320311026","funder_display_name":"Shandong University"}],"funders":[{"id":"https://openalex.org/F4320311026","display_name":"Shandong University","ror":"https://ror.org/0207yh398"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320333596","display_name":"Key Technology Research and Development Program of Shandong","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3153128647.pdf","grobid_xml":"https://content.openalex.org/works/W3153128647.grobid-xml"},"referenced_works_count":20,"referenced_works":["https://openalex.org/W1847995011","https://openalex.org/W1969861458","https://openalex.org/W1970752792","https://openalex.org/W1983241812","https://openalex.org/W1986514633","https://openalex.org/W2005660353","https://openalex.org/W2074177736","https://openalex.org/W2077726292","https://openalex.org/W2109425784","https://openalex.org/W2142517568","https://openalex.org/W2142964092","https://openalex.org/W2150367199","https://openalex.org/W2169164876","https://openalex.org/W2184465722","https://openalex.org/W2440260721","https://openalex.org/W2606510896","https://openalex.org/W2736787881","https://openalex.org/W2794489265","https://openalex.org/W2917933912","https://openalex.org/W2976692949"],"related_works":["https://openalex.org/W2083759350","https://openalex.org/W3133687580","https://openalex.org/W2021098562","https://openalex.org/W1566538768","https://openalex.org/W4241379036","https://openalex.org/W1897710365","https://openalex.org/W2317038355","https://openalex.org/W2942851934","https://openalex.org/W2501062421","https://openalex.org/W4386883573"],"abstract_inverted_index":{"Industrial":[0],"robots":[1],"are":[2,10],"being":[3],"widely":[4],"applied":[5],"to":[6],"machining":[7,17],"operations,":[8],"and":[9,57,85,96,111,121],"gradually":[11],"becoming":[12],"competitive":[13],"with":[14],"traditional":[15],"CNC":[16],"centers.":[18],"Obtaining":[19],"accurate":[20,58,122],"stiffness":[21,47,67,75],"values":[22],"of":[23,34,40,45,72,89,109],"robotic":[24,50],"joints":[25],"is":[26,77,93,105,118],"the":[27,43,65,73,83,86,90,97,115],"foundation":[28],"for":[29,60,99],"deflections":[30],"compensation":[31],"in":[32,64],"case":[33],"large":[35],"cutting":[36],"forces.":[37],"A":[38],"number":[39,88],"factors":[41],"influence":[42],"accuracy":[44],"joint":[46,66,74],"identification,":[48],"especially":[49],"posture.":[51],"This":[52],"paper":[53],"proposes":[54],"a":[55],"robust":[56,120],"method":[59,117],"selecting":[61],"suitable":[62],"postures":[63,100],"identification.":[68],"The":[69,107],"identification":[70],"process":[71],"matrix":[76,92],"presented,":[78],"an":[79],"index":[80],"considering":[81],"both":[82],"dexterity":[84],"condition":[87],"observation":[91],"then":[94],"developed,":[95],"procedure":[98],"selection":[101],"based":[102],"on":[103],"it":[104],"provided.":[106],"results":[108],"simulations":[110],"experiments":[112],"show":[113],"that":[114],"proposed":[116],"more":[119],"than":[123],"classical":[124],"method.":[125]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":4}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}