{"id":"https://openalex.org/W4211212145","doi":"https://doi.org/10.1109/access.2022.3151070","title":"Identifying Dynamic Parameters With a Novel Software Design for the M-DOF Collaborative Robot","display_name":"Identifying Dynamic Parameters With a Novel Software Design for the M-DOF Collaborative Robot","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4211212145","doi":"https://doi.org/10.1109/access.2022.3151070"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3151070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3151070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09712305.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":null,"license_id":null,"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/ielx7/6287639/9668973/09712305.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5019582178","display_name":"Omer Ayvaci","orcid":"https://orcid.org/0000-0002-7169-3540"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Omer Ayvaci","raw_affiliation_strings":["Faculty of Computing and Telecommunication, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Computing and Telecommunication, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012043050","display_name":"Pawe\u0142 Szulczy\u0144ski","orcid":"https://orcid.org/0000-0003-2103-5176"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pawel Szulczynski","raw_affiliation_strings":["Faculty of Control, Robotics and Electrical Engineering, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Control, Robotics and Electrical Engineering, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005043534","display_name":"Marcin Kie\u0142czewski","orcid":"https://orcid.org/0000-0001-8868-0618"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Marcin Kielczewski","raw_affiliation_strings":["Faculty of Control, Robotics and Electrical Engineering, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland"],"affiliations":[{"raw_affiliation_string":"Faculty of Control, Robotics and Electrical Engineering, Pozna&#x0144; University of Technology, Pozna&#x0144;, Poland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5019582178"],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":0.4819,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59700039,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"10","issue":null,"first_page":"24627","last_page":"24637"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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":0.9983999729156494,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9983000159263611,"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/computer-science","display_name":"Computer science","score":0.7613155245780945},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5471339821815491},{"id":"https://openalex.org/keywords/software","display_name":"Software","score":0.5090698599815369},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4943854808807373},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3411763906478882},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.3220427632331848},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21889644861221313},{"id":"https://openalex.org/keywords/operating-system","display_name":"Operating system","score":0.1518535614013672}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7613155245780945},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5471339821815491},{"id":"https://openalex.org/C2777904410","wikidata":"https://www.wikidata.org/wiki/Q7397","display_name":"Software","level":2,"score":0.5090698599815369},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4943854808807373},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3411763906478882},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.3220427632331848},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21889644861221313},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.1518535614013672}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2022.3151070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3151070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09712305.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":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:51f64e876d1e4910a5a92c2912daca15","is_oa":true,"landing_page_url":"https://doaj.org/article/51f64e876d1e4910a5a92c2912daca15","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 24627-24637 (2022)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3151070","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3151070","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09712305.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":null,"license_id":null,"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/16","display_name":"Peace, Justice and strong institutions","score":0.7599999904632568}],"awards":[{"id":"https://openalex.org/G5525294444","display_name":null,"funder_award_id":"0211/SBAD/0121","funder_id":"https://openalex.org/F4320322481","funder_display_name":"Politechnika Pozna\u0144ska"}],"funders":[{"id":"https://openalex.org/F4320322481","display_name":"Politechnika Pozna\u0144ska","ror":"https://ror.org/00p7p3302"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4211212145.pdf","grobid_xml":"https://content.openalex.org/works/W4211212145.grobid-xml"},"referenced_works_count":36,"referenced_works":["https://openalex.org/W83404773","https://openalex.org/W1587979646","https://openalex.org/W1894701209","https://openalex.org/W1964511224","https://openalex.org/W2001524797","https://openalex.org/W2039475797","https://openalex.org/W2051669066","https://openalex.org/W2078856056","https://openalex.org/W2084898319","https://openalex.org/W2102797102","https://openalex.org/W2109059029","https://openalex.org/W2112474089","https://openalex.org/W2141400158","https://openalex.org/W2159537373","https://openalex.org/W2292156732","https://openalex.org/W2623591339","https://openalex.org/W2751440028","https://openalex.org/W2794193951","https://openalex.org/W2909357162","https://openalex.org/W2945260145","https://openalex.org/W2952132323","https://openalex.org/W2963476895","https://openalex.org/W2964222556","https://openalex.org/W2983241620","https://openalex.org/W2991316463","https://openalex.org/W2992400483","https://openalex.org/W2999805534","https://openalex.org/W3002362890","https://openalex.org/W3029935604","https://openalex.org/W3034758466","https://openalex.org/W3047912858","https://openalex.org/W3091901463","https://openalex.org/W3144163685","https://openalex.org/W4205362845","https://openalex.org/W4244698466","https://openalex.org/W4301491118"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2184085865","https://openalex.org/W2064245428","https://openalex.org/W2170721890","https://openalex.org/W2122871747","https://openalex.org/W1990892711"],"abstract_inverted_index":{"The":[0,161],"primary":[1],"goal":[2],"of":[3,37,53,138],"this":[4,180],"project":[5],"was":[6,47,78,124],"to":[7,19,49,62],"develop":[8],"a":[9,51,64],"general":[10,65],"identification":[11,162],"method":[12,77,123],"via":[13,148],"software":[14],"that":[15,55],"can":[16],"be":[17],"applied":[18],"collaborative":[20,26,69],"robots.":[21,70],"To":[22,98],"achieve":[23],"this,":[24],"the":[25,43,58,74,136,157,172],"ultralight":[27],"robots":[28,102,176],"Kinova":[29],"Gen2":[30],"and":[31,61,129,134,145,152,168,171],"Kuka":[32],"LWR4+":[33],"with":[34,84,105],"seven":[35],"degrees":[36],"freedom":[38],"(M-DOF)":[39],"were":[40,96,103,141,164],"used.":[41,79,97],"Specifically,":[42],"\u201crecursive":[44],"Newton-Euler\u201d":[45],"formulation":[46],"used":[48],"provide":[50],"set":[52],"parameters":[54],"could":[56],"describe":[57],"body":[59],"structure":[60],"create":[63],"symbolic":[66],"representation":[67],"for":[68,126,174],"For":[71],"parameter":[72,127],"estimation,":[73],"least":[75],"squares":[76],"In":[80],"addition,":[81],"trajectories":[82,95,112],"generated":[83],"random":[85],"numbers":[86],"typically":[87],"do":[88],"not":[89],"produce":[90],"consistent":[91],"results;":[92],"thus,":[93],"verified":[94],"verify":[99],"trajectories,":[100],"real":[101],"simulated":[104],"V-Rep":[106,153],"before":[107],"being":[108],"executed.":[109],"When":[110],"untested":[111],"are":[113,177],"first":[114],"tested":[115],"on":[116],"robots,":[117],"undesirable":[118],"results":[119,173],"may":[120],"occur.":[121],"This":[122],"convenient":[125],"estimation":[128],"robot":[130],"health;":[131],"saves":[132],"time;":[133],"increases":[135],"consistency":[137],"results.":[139],"Algorithms":[140],"coded":[142],"in":[143,156,179],"MATLAB":[144],"ROS":[146],"packages":[147],"Python.":[149],"MATLAB,":[150],"ROS,":[151],"worked":[154],"together":[155],"Ubuntu":[158],"operating":[159],"system.":[160],"methods":[163],"modeled,":[165],"implemented,":[166],"tested,":[167],"validated":[169],"successfully,":[170],"both":[175],"reported":[178],"article.":[181]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
