{"id":"https://openalex.org/W3217402655","doi":"https://doi.org/10.1109/crc52766.2021.9620144","title":"Dynamic Parameter Identification and Collision Detection of Robot","display_name":"Dynamic Parameter Identification and Collision Detection of Robot","publication_year":2021,"publication_date":"2021-10-09","ids":{"openalex":"https://openalex.org/W3217402655","doi":"https://doi.org/10.1109/crc52766.2021.9620144","mag":"3217402655"},"language":"en","primary_location":{"id":"doi:10.1109/crc52766.2021.9620144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-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/A5057049273","display_name":"Qiang Guo","orcid":"https://orcid.org/0000-0001-6539-5988"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qiang Guo","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100415470","display_name":"Weijun Wang","orcid":"https://orcid.org/0000-0003-4676-8448"},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weijun Wang","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5065722879","display_name":"Chaoyang Ma","orcid":null},"institutions":[{"id":"https://openalex.org/I2800372957","display_name":"China Electronics Technology Group Corporation","ror":"https://ror.org/0098hst83","country_code":"CN","type":"company","lineage":["https://openalex.org/I2800372957"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chaoyang Ma","raw_affiliation_strings":["The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"The Robotics Engineering Center, The 21ST Research Institute of China Electronic Technology Group Corporation, Shanghai, China","institution_ids":["https://openalex.org/I2800372957"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5057049273"],"corresponding_institution_ids":["https://openalex.org/I2800372957"],"apc_list":null,"apc_paid":null,"fwci":0.412,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.62495829,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"24","issue":null,"first_page":"68","last_page":"73"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9890999794006348,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9882000088691711,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/scara","display_name":"SCARA","score":0.9744918942451477},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6146591901779175},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.6119088530540466},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5225643515586853},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5148317217826843},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.48060342669487},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4578913152217865},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4474772810935974},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3620187044143677},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3589646816253662},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3045092225074768},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2505005896091461}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9744918942451477},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6146591901779175},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.6119088530540466},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5225643515586853},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5148317217826843},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.48060342669487},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4578913152217865},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4474772810935974},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3620187044143677},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3589646816253662},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3045092225074768},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2505005896091461},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/crc52766.2021.9620144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/crc52766.2021.9620144","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 6th International Conference on Control, Robotics and Cybernetics (CRC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":7,"referenced_works":["https://openalex.org/W815746727","https://openalex.org/W1966063170","https://openalex.org/W2019067872","https://openalex.org/W2126721296","https://openalex.org/W2140781725","https://openalex.org/W2884767975","https://openalex.org/W4256407389"],"related_works":["https://openalex.org/W4255006717","https://openalex.org/W2160983430","https://openalex.org/W2792156965","https://openalex.org/W2591779012","https://openalex.org/W3155165561","https://openalex.org/W2026970149","https://openalex.org/W2895862012","https://openalex.org/W3217402655","https://openalex.org/W2086863125","https://openalex.org/W2139772866"],"abstract_inverted_index":{"A":[0],"method":[1],"based":[2],"on":[3],"MD-H":[4,48],"model":[5,14,39],"is":[6,43,56,69,91,131,144,148],"proposed":[7],"to":[8],"establish":[9],"the":[10,28,35,46,54,59,63,66,73,80,97,114,122,128,135,141],"geometric":[11,36],"parameter":[12,37,75],"error":[13,21,38],"of":[15,30,40,53,62,65,85,101],"SCARA":[16,41,89,102],"robot":[17,31,42,55,90,103,129,142],"and":[18,58,72,88,105,134],"carry":[19],"out":[20],"compensation.":[22],"In":[23],"this":[24],"paper,":[25],"by":[26,93,110],"analyzing":[27],"causes":[29],"positioning":[32,125,138],"accuracy":[33,126,139],"error,":[34],"established":[44,92],"through":[45],"modified":[47],"model.":[49],"The":[50],"Jacobian":[51],"matrix":[52,68],"calculated,":[57],"redundancy":[60],"analysis":[61],"columns":[64,76],"J":[67],"carried":[70],"out,":[71],"redundant":[74],"are":[77,108],"eliminated.":[78],"Then":[79],"same":[81],"world":[82],"coordinate":[83,99],"system":[84],"laser":[86,111],"tracker":[87],"axis":[94],"method.":[95],"Finally,":[96],"absolute":[98,124,137],"data":[100],"before":[104,127],"after":[106,140],"correction":[107,130,143],"measured":[109,115],"tracker.":[112],"From":[113],"data,":[116],"it":[117],"can":[118],"be":[119],"obtained":[120],"that":[121,153],"maximum":[123,136],"7.4":[132],"mm,":[133,146],"0.933":[145],"which":[147],"6.9":[149],"times":[150],"higher":[151],"than":[152],"before.":[154]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}