{"id":"https://openalex.org/W2786952508","doi":"https://doi.org/10.1109/iccis.2017.8274814","title":"A direct-drive SCARA robot for wafer&amp;ceramic-substrate handling based on visual servoing","display_name":"A direct-drive SCARA robot for wafer&amp;ceramic-substrate handling based on visual servoing","publication_year":2017,"publication_date":"2017-11-01","ids":{"openalex":"https://openalex.org/W2786952508","doi":"https://doi.org/10.1109/iccis.2017.8274814","mag":"2786952508"},"language":"en","primary_location":{"id":"doi:10.1109/iccis.2017.8274814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","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/A5018009457","display_name":"Yunbo He","orcid":"https://orcid.org/0000-0002-6933-1209"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunbo He","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100750100","display_name":"Chang Zhang","orcid":"https://orcid.org/0000-0002-0642-4408"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chang Zhang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039681953","display_name":"Ye Wentao","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Ye","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101049879","display_name":"Zuoxiong He","orcid":null},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zuoxiong He","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100363117","display_name":"Xin Chen","orcid":"https://orcid.org/0000-0003-1990-2058"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028795816","display_name":"Jian Gao","orcid":"https://orcid.org/0000-0001-5625-7751"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Gao","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100324071","display_name":"Kai Zhang","orcid":"https://orcid.org/0009-0005-6803-7533"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kai Zhang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066914548","display_name":"Zhijun Yang","orcid":"https://orcid.org/0000-0003-1927-1209"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Yang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100451602","display_name":"Xun Chen","orcid":"https://orcid.org/0000-0002-4922-8116"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xun Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100416547","display_name":"Yun Chen","orcid":"https://orcid.org/0000-0002-4988-8894"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yun Chen","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009718960","display_name":"Hui Tang","orcid":"https://orcid.org/0000-0003-2155-5235"},"institutions":[{"id":"https://openalex.org/I139024713","display_name":"Guangdong University of Technology","ror":"https://ror.org/04azbjn80","country_code":"CN","type":"education","lineage":["https://openalex.org/I139024713"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hui Tang","raw_affiliation_strings":["School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Electromechanical Engineering, Guangdong University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I139024713"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5018009457"],"corresponding_institution_ids":["https://openalex.org/I139024713"],"apc_list":null,"apc_paid":null,"fwci":0.2731,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.66050661,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"428","last_page":"433"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9988999962806702,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9987999796867371,"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/scara","display_name":"SCARA","score":0.9836935997009277},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.8397948145866394},{"id":"https://openalex.org/keywords/wafer","display_name":"Wafer","score":0.676849365234375},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6424480080604553},{"id":"https://openalex.org/keywords/substrate","display_name":"Substrate (aquarium)","score":0.5816836953163147},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4486237168312073},{"id":"https://openalex.org/keywords/ceramic","display_name":"Ceramic","score":0.4400986433029175},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3886024057865143},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.36611419916152954},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3366904854774475},{"id":"https://openalex.org/keywords/optoelectronics","display_name":"Optoelectronics","score":0.22221845388412476},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.1663753092288971}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9836935997009277},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.8397948145866394},{"id":"https://openalex.org/C160671074","wikidata":"https://www.wikidata.org/wiki/Q267131","display_name":"Wafer","level":2,"score":0.676849365234375},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6424480080604553},{"id":"https://openalex.org/C2777289219","wikidata":"https://www.wikidata.org/wiki/Q7632154","display_name":"Substrate (aquarium)","level":2,"score":0.5816836953163147},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4486237168312073},{"id":"https://openalex.org/C134132462","wikidata":"https://www.wikidata.org/wiki/Q45621","display_name":"Ceramic","level":2,"score":0.4400986433029175},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3886024057865143},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.36611419916152954},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3366904854774475},{"id":"https://openalex.org/C49040817","wikidata":"https://www.wikidata.org/wiki/Q193091","display_name":"Optoelectronics","level":1,"score":0.22221845388412476},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.1663753092288971},{"id":"https://openalex.org/C111368507","wikidata":"https://www.wikidata.org/wiki/Q43518","display_name":"Oceanography","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iccis.2017.8274814","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccis.2017.8274814","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5199999809265137,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W615858980","https://openalex.org/W1514444483","https://openalex.org/W1975922055","https://openalex.org/W1981999954","https://openalex.org/W1986182534","https://openalex.org/W1994732751","https://openalex.org/W2062691475","https://openalex.org/W2125186487","https://openalex.org/W2152526946","https://openalex.org/W2155735496","https://openalex.org/W2167501464","https://openalex.org/W2168947801","https://openalex.org/W2369861193","https://openalex.org/W2413944617","https://openalex.org/W2485992890","https://openalex.org/W2513624636","https://openalex.org/W6630701454"],"related_works":["https://openalex.org/W2107326529","https://openalex.org/W4293869118","https://openalex.org/W286997960","https://openalex.org/W2152244067","https://openalex.org/W165596340","https://openalex.org/W2051826626","https://openalex.org/W2516826372","https://openalex.org/W2775473286","https://openalex.org/W2082114066","https://openalex.org/W2118929088"],"abstract_inverted_index":{"In":[0,22,73],"this":[1],"paper,":[2],"a":[3],"4-DOF":[4],"(Degrees":[5],"of":[6,28,45,65,70,75,79,93,100,113],"Freedom)":[7],"direct-drive":[8],"SCARA":[9,80,115],"(Selective":[10],"Compliant":[11],"Assembly":[12],"Robot":[13],"Arm)":[14],"robot":[15],"is":[16,51,105],"designed":[17],"for":[18,49],"wafer&ceramic-substrate":[19,31,124],"handing":[20],"purpose.":[21],"order":[23],"to":[24,60],"improve":[25],"the":[26,29,36,46,55,63,71,76,84,90,110,114,120,123],"flexibility":[27],"whole":[30],"handling":[32,125],"system,":[33],"we":[34,82],"abandon":[35],"traditional":[37],"aligner":[38],"which":[39,88],"can":[40],"only":[41],"achieve":[42,62],"accurate":[43,68],"positioning":[44],"wafer":[47],"and":[48,67,96,109],"ceramic-substrate":[50],"powerless,":[52],"but":[53],"introduce":[54],"visual":[56,101],"servoing":[57,102],"control":[58,91,103],"strategy":[59,104],"excellent":[61],"purpose":[64],"rapid":[66],"aligning":[69],"wafer&ceramic-substrate.":[72],"view":[74],"structural":[77],"characteristics":[78],"robot,":[81],"adopted":[83],"XY/Z-Partitioned":[85],"IBVS":[86],"scheme,":[87],"realized":[89],"decoupling":[92],"x-,":[94],"y-axis":[95],"z-axis.":[97],"The":[98],"reliability":[99],"verified":[106],"by":[107],"simulation":[108],"physical":[111],"prototype":[112],"robot.":[116],"Performance":[117],"meets":[118],"with":[119],"requirements":[121],"in":[122],"process.":[126]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
