{"id":"https://openalex.org/W2414779538","doi":"https://doi.org/10.1109/icra.2016.7487630","title":"Elasto-geometrical calibration of an industrial robot under multidirectional external loads using a laser tracker","display_name":"Elasto-geometrical calibration of an industrial robot under multidirectional external loads using a laser tracker","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2414779538","doi":"https://doi.org/10.1109/icra.2016.7487630","mag":"2414779538"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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/A5004976943","display_name":"Kaveh Kamali","orcid":"https://orcid.org/0000-0002-7154-9688"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Kaveh Kamali","raw_affiliation_strings":["Ecole de technologie sup\u00e9rieure"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole de technologie sup\u00e9rieure","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052093891","display_name":"Ahmed Joubair","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ahmed Joubair","raw_affiliation_strings":["Ecole de technologie sup\u00e9rieure"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole de technologie sup\u00e9rieure","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041347819","display_name":"Ilian A. Bonev","orcid":"https://orcid.org/0000-0002-9663-2496"},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Ilian A. Bonev","raw_affiliation_strings":["Ecole de technologie sup\u00e9rieure"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole de technologie sup\u00e9rieure","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072781167","display_name":"Pascal Bigras","orcid":null},"institutions":[{"id":"https://openalex.org/I9736820","display_name":"\u00c9cole de Technologie Sup\u00e9rieure","ror":"https://ror.org/0020snb74","country_code":"CA","type":"education","lineage":["https://openalex.org/I49663120","https://openalex.org/I9736820"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Pascal Bigras","raw_affiliation_strings":["Ecole de technologie sup\u00e9rieure"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole de technologie sup\u00e9rieure","institution_ids":["https://openalex.org/I9736820"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I9736820"],"apc_list":null,"apc_paid":null,"fwci":3.7803,"has_fulltext":false,"cited_by_count":60,"citation_normalized_percentile":{"value":0.93385448,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"4320","last_page":"4327"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9962999820709229,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9901000261306763,"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/robot-calibration","display_name":"Robot calibration","score":0.8439831733703613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7630933523178101},{"id":"https://openalex.org/keywords/laser-tracker","display_name":"Laser tracker","score":0.7394921779632568},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6545655131340027},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5892772078514099},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5365671515464783},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5058109760284424},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4952670633792877},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.49266868829727173},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44026243686676025},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.43092456459999084},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4295850098133087},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.42870959639549255},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4172295331954956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.38804197311401367},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3635712265968323},{"id":"https://openalex.org/keywords/laser","display_name":"Laser","score":0.19781026244163513},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.18560144305229187},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1826106607913971},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1310354471206665},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.10275667905807495}],"concepts":[{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.8439831733703613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7630933523178101},{"id":"https://openalex.org/C43210895","wikidata":"https://www.wikidata.org/wiki/Q2447583","display_name":"Laser tracker","level":3,"score":0.7394921779632568},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6545655131340027},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5892772078514099},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5365671515464783},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5058109760284424},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4952670633792877},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.49266868829727173},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44026243686676025},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.43092456459999084},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4295850098133087},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.42870959639549255},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4172295331954956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.38804197311401367},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3635712265968323},{"id":"https://openalex.org/C520434653","wikidata":"https://www.wikidata.org/wiki/Q38867","display_name":"Laser","level":2,"score":0.19781026244163513},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.18560144305229187},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1826106607913971},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1310354471206665},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.10275667905807495},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2016.7487630","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487630","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","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":20,"referenced_works":["https://openalex.org/W1992656747","https://openalex.org/W1995128555","https://openalex.org/W1996772426","https://openalex.org/W2022294197","https://openalex.org/W2025939589","https://openalex.org/W2031286453","https://openalex.org/W2032568691","https://openalex.org/W2037632893","https://openalex.org/W2056731056","https://openalex.org/W2057479639","https://openalex.org/W2062691475","https://openalex.org/W2079737074","https://openalex.org/W2096967335","https://openalex.org/W2111398566","https://openalex.org/W2114866967","https://openalex.org/W2116108132","https://openalex.org/W2119139471","https://openalex.org/W2150344946","https://openalex.org/W2159777280","https://openalex.org/W4234593440"],"related_works":["https://openalex.org/W2970842683","https://openalex.org/W3174748874","https://openalex.org/W1986271109","https://openalex.org/W4285612527","https://openalex.org/W2771857660","https://openalex.org/W4366146778","https://openalex.org/W3128516213","https://openalex.org/W2901276430","https://openalex.org/W2247785048","https://openalex.org/W1988479431"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,13,89,113],"elasto-geometrical":[4,147,174],"calibration":[5,102,126,151,175,192],"method":[6],"for":[7,62,124,136,155],"improving":[8],"the":[9,30,33,76,80,83,87,98,101,125,133,144,150,172,181,195],"position":[10,31,49,130,183,197],"accuracy":[11],"of":[12,32,57,82,100,116,132,158,161],"industrial":[14],"robot":[15,38,64,70,117,135,162],"(ABB":[16],"IRB":[17],"1600).":[18],"Geometric":[19],"parameter":[20],"errors":[21,50,131],"and":[22,60,109,119,164],"joint":[23],"stiffness":[24],"parameters":[25],"are":[26,51,140],"identified":[27],"through":[28],"measuring":[29],"robot's":[34,48,146],"end-effector":[35,81],"in":[36,94],"several":[37],"configurations":[39,118,163],"using":[40],"a":[41,54,156,189],"laser":[42],"tracker.":[43],"Contrary":[44],"to":[45,73,96,106,142,179,185,200],"previous":[46],"works,":[47],"measured":[52,129],"under":[53],"wide":[55],"range":[56],"external":[58,120,165],"forces":[59],"torques":[61],"each":[63],"configuration.":[65],"A":[66],"6-DOF":[67],"cable-driven":[68],"parallel":[69],"is":[71,92,122,153,177],"employed":[72],"automatically":[74],"apply":[75],"desired":[77],"load":[78],"on":[79],"ABB":[84,134],"robot.":[85],"Before":[86],"experiment,":[88],"observability":[90],"analysis":[91],"performed":[93],"order":[95],"improve":[97],"robustness":[99],"process":[103],"with":[104],"respect":[105],"measurement":[107],"noise":[108],"unmodeled":[110],"errors.":[111],"Accordingly,":[112],"optimal":[114],"set":[115,139],"loads":[121],"selected":[123,138],"process.":[127],"The":[128,167],"this":[137],"used":[141],"identify":[143],"real":[145],"parameters.":[148],"Finally,":[149],"efficiency":[152],"evaluated":[154],"number":[157],"random":[159],"combinations":[160],"loads.":[166],"experimental":[168],"results":[169],"revealed":[170],"that":[171],"proposed":[173],"approach":[176],"able":[178],"reduce":[180,194],"maximum":[182,196],"error":[184,198],"0.960":[186],"mm,":[187],"while":[188],"customary":[190],"kinematic":[191],"can":[193],"only":[199],"2.571":[201],"mm.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":11},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":10},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
