{"id":"https://openalex.org/W7128055604","doi":"https://doi.org/10.1109/iccma67641.2025.11369593","title":"Evaluation of Measurement Noise and Sampling Frequency for Online Identification of End Effector Stiffness and Damping in a Cartesian Robot","display_name":"Evaluation of Measurement Noise and Sampling Frequency for Online Identification of End Effector Stiffness and Damping in a Cartesian Robot","publication_year":2025,"publication_date":"2025-11-24","ids":{"openalex":"https://openalex.org/W7128055604","doi":"https://doi.org/10.1109/iccma67641.2025.11369593"},"language":"en","primary_location":{"id":"doi:10.1109/iccma67641.2025.11369593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma67641.2025.11369593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 13th International Conference on Control, Mechatronics and Automation (ICCMA)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5092582427","display_name":"Arul K. Mathivanan","orcid":null},"institutions":[{"id":"https://openalex.org/I4210140143","display_name":"Dynamic Systems (United States)","ror":"https://ror.org/043vm9914","country_code":"US","type":"company","lineage":["https://openalex.org/I4210140143"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arul K. Mathivanan","raw_affiliation_strings":["Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium","institution_ids":["https://openalex.org/I4210140143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005590794","display_name":"Jeroen D. M. De Kooning","orcid":"https://orcid.org/0000-0002-0358-4350"},"institutions":[{"id":"https://openalex.org/I4210140143","display_name":"Dynamic Systems (United States)","ror":"https://ror.org/043vm9914","country_code":"US","type":"company","lineage":["https://openalex.org/I4210140143"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeroen D. M. De Kooning","raw_affiliation_strings":["Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium","institution_ids":["https://openalex.org/I4210140143"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002439506","display_name":"Niko Nevaranta","orcid":"https://orcid.org/0000-0002-9766-0675"},"institutions":[{"id":"https://openalex.org/I4210110242","display_name":"Digital Science (United States)","ror":"https://ror.org/020h4b682","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110242","https://openalex.org/I4210112888","https://openalex.org/I4210118830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Niko Nevaranta","raw_affiliation_strings":["LUT University,Laboratory of Control Engineering & Digital Systems,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LUT University,Laboratory of Control Engineering & Digital Systems,Finland","institution_ids":["https://openalex.org/I4210110242"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041088702","display_name":"Tuomo Lindh","orcid":"https://orcid.org/0000-0002-9923-3650"},"institutions":[{"id":"https://openalex.org/I4210110242","display_name":"Digital Science (United States)","ror":"https://ror.org/020h4b682","country_code":"US","type":"company","lineage":["https://openalex.org/I4210110242","https://openalex.org/I4210112888","https://openalex.org/I4210118830"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tuomo Lindh","raw_affiliation_strings":["LUT University,Laboratory of Control Engineering & Digital Systems,Finland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LUT University,Laboratory of Control Engineering & Digital Systems,Finland","institution_ids":["https://openalex.org/I4210110242"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046571860","display_name":"Kurt Stockman","orcid":"https://orcid.org/0000-0003-0858-8032"},"institutions":[{"id":"https://openalex.org/I4210140143","display_name":"Dynamic Systems (United States)","ror":"https://ror.org/043vm9914","country_code":"US","type":"company","lineage":["https://openalex.org/I4210140143"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kurt Stockman","raw_affiliation_strings":["Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghent University,Dynamical Systems & Control Research Group,Department of Electromechanical, Systems & Metal Engineering, Faculty of Engineering & Architecture,Belgium","institution_ids":["https://openalex.org/I4210140143"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.75606007,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"117","last_page":"123"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.6126999855041504,"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"}},"topics":[{"id":"https://openalex.org/T13644","display_name":"Control Systems in Engineering","score":0.6126999855041504,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.07530000060796738,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.03370000049471855,"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/control-theory","display_name":"Control theory (sociology)","score":0.724399983882904},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.573199987411499},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5684000253677368},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.44279998540878296},{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.43790000677108765},{"id":"https://openalex.org/keywords/sampling","display_name":"Sampling (signal processing)","score":0.4221999943256378},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.41929998993873596},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4074000120162964},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.39590001106262207}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.724399983882904},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.573199987411499},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5684000253677368},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.49140000343322754},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.44279998540878296},{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.43790000677108765},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4293000102043152},{"id":"https://openalex.org/C140779682","wikidata":"https://www.wikidata.org/wiki/Q210868","display_name":"Sampling (signal processing)","level":3,"score":0.4221999943256378},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.41929998993873596},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4074000120162964},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.39590001106262207},{"id":"https://openalex.org/C118530786","wikidata":"https://www.wikidata.org/wiki/Q1134732","display_name":"Instrumentation (computer programming)","level":2,"score":0.3767000138759613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3637000024318695},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3562000095844269},{"id":"https://openalex.org/C19619285","wikidata":"https://www.wikidata.org/wiki/Q196372","display_name":"Observational error","level":2,"score":0.3441999852657318},{"id":"https://openalex.org/C37649242","wikidata":"https://www.wikidata.org/wiki/Q932268","display_name":"System of measurement","level":2,"score":0.3073999881744385},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.2994999885559082},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.29919999837875366},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.29829999804496765},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.27639999985694885},{"id":"https://openalex.org/C8590192","wikidata":"https://www.wikidata.org/wiki/Q1054694","display_name":"Frequency response","level":2,"score":0.26969999074935913},{"id":"https://openalex.org/C47432892","wikidata":"https://www.wikidata.org/wiki/Q831390","display_name":"Wavelet","level":2,"score":0.26589998602867126},{"id":"https://openalex.org/C137209882","wikidata":"https://www.wikidata.org/wiki/Q1403517","display_name":"Measurement uncertainty","level":2,"score":0.2547999918460846},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.2517000138759613}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iccma67641.2025.11369593","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iccma67641.2025.11369593","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 13th International Conference on Control, Mechatronics and Automation (ICCMA)","raw_type":"proceedings-article"},{"id":"pmh:oai:archive.ugent.be:01KMQ9NJVV0PP8W3T3S024BP1F","is_oa":false,"landing_page_url":"http://hdl.handle.net/1854/LU-01KMQ9NJVV0PP8W3T3S024BP1F","pdf_url":null,"source":{"id":"https://openalex.org/S4306400478","display_name":"Ghent University Academic Bibliography (Ghent University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I32597200","host_organization_name":"Ghent University","host_organization_lineage":["https://openalex.org/I32597200"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISBN: 9798331591410","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1615290933","https://openalex.org/W1997495004","https://openalex.org/W2028708451","https://openalex.org/W2057783045","https://openalex.org/W2091881639","https://openalex.org/W2109715132","https://openalex.org/W2536008442","https://openalex.org/W2536372325","https://openalex.org/W2545231939","https://openalex.org/W2807822643","https://openalex.org/W2942883088","https://openalex.org/W2964464294","https://openalex.org/W3017897340","https://openalex.org/W3200683428","https://openalex.org/W4295094986","https://openalex.org/W4318604565","https://openalex.org/W4393198479","https://openalex.org/W4396766747","https://openalex.org/W4402594253","https://openalex.org/W4410115360"],"related_works":[],"abstract_inverted_index":{"An":[0],"online":[1],"parameter":[2],"identification":[3,32,159,185],"method":[4,33],"using":[5],"pseudo-random":[6],"binary":[7],"sequence":[8],"(PRBS)":[9],"excitation":[10,124],"is":[11,34,63,84,110,125,145],"proposed":[12,31,200],"to":[13,127,131,147],"estimate":[14],"the":[15,53,60,87,91,95,101,107,118,128,135,149,165,178,187,196,199],"flexibility":[16,105],"and":[17,51,75,138,152,162,172],"damping":[18,153,163],"of":[19,59,106,160,180,190,198],"an":[20,43],"experimental":[21],"end":[22,72,108,136,166,188],"effector":[23,73,109,167,189],"setup":[24],"in":[25,100,134,164,186],"a":[26,38,113,139,191],"belt-driven":[27],"Cartesian":[28,192],"robot.":[29],"The":[30,82,104,155],"first":[35],"evaluated":[36],"on":[37],"simulation":[39,57],"model":[40,58,83],"for":[41,183],"choosing":[42],"appropriate":[44],"measurement":[45,76,80,170],"method,":[46],"saving":[47],"potential":[48],"instrumentation":[49],"costs":[50],"validating":[52,195],"feasibility.":[54],"A":[55,121],"detailed":[56],"real":[61,79,92,119],"system":[62],"developed,":[64],"incorporating":[65],"nonlinear":[66],"position-based":[67],"Coulomb":[68],"friction,":[69,71],"viscous":[70],"flexibility,":[74],"noise":[77,171],"replicating":[78],"data.":[81],"simulated":[85],"with":[86,117],"same":[88],"conditions":[89],"as":[90],"system,":[93,194],"including":[94],"identical":[96],"control":[97],"architecture":[98],"deployed":[99],"robot\u2019s":[102],"PLC.":[103],"modeled":[111],"by":[112],"mass\u2013spring":[114],"mechanism":[115],"consistent":[116],"setup.":[120],"PRBS":[122],"torque":[123],"applied":[126],"controller":[129],"output":[130],"induce":[132],"vibrations":[133],"effector,":[137],"linear":[140],"least":[141],"squares":[142],"(LLS)":[143],"regression":[144],"employed":[146],"identify":[148],"spring":[150],"stiffness":[151,161],"parameters.":[154],"results":[156],"demonstrate":[157],"accurate":[158],"over":[168],"increasing":[169],"sampling":[173],"frequencies.":[174],"This":[175],"information":[176],"enables":[177],"selection":[179],"suitable":[181],"sensors":[182],"such":[184],"robot":[193],"effectiveness":[197],"approach.":[201]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2026-02-07T00:00:00"}