{"id":"https://openalex.org/W2890944966","doi":"https://doi.org/10.1109/icra.2018.8460901","title":"An Experimental Investigation of Extra Measurements for Solving the Direct Kinematics of Cable-Driven Parallel Robots","display_name":"An Experimental Investigation of Extra Measurements for Solving the Direct Kinematics of Cable-Driven Parallel Robots","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2890944966","doi":"https://doi.org/10.1109/icra.2018.8460901","mag":"2890944966"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8460901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"preprint","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/A5006390574","display_name":"Jean\u2010Pierre Merlet","orcid":"https://orcid.org/0000-0002-0401-5424"},"institutions":[{"id":"https://openalex.org/I201841394","display_name":"Universit\u00e9 C\u00f4te d'Azur","ror":"https://ror.org/019tgvf94","country_code":"FR","type":"education","lineage":["https://openalex.org/I201841394"]},{"id":"https://openalex.org/I4210126779","display_name":"Observatoire de la C\u00f4te d\u2019Azur","ror":"https://ror.org/039fj2469","country_code":"FR","type":"facility","lineage":["https://openalex.org/I201841394","https://openalex.org/I4210126779"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"J.-P. Merlet","raw_affiliation_strings":["HEPHAISTOS project, Universit\u00e9 C\u00f4te d\u2019 Azur, Inria, France","HEPHAISTOS project, Universit\u00e9 C\u00f4te d' Azur, Inria, France"],"affiliations":[{"raw_affiliation_string":"HEPHAISTOS project, Universit\u00e9 C\u00f4te d\u2019 Azur, Inria, France","institution_ids":["https://openalex.org/I4210126779","https://openalex.org/I201841394"]},{"raw_affiliation_string":"HEPHAISTOS project, Universit\u00e9 C\u00f4te d' Azur, Inria, France","institution_ids":["https://openalex.org/I4210126779","https://openalex.org/I201841394"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5006390574"],"corresponding_institution_ids":["https://openalex.org/I201841394","https://openalex.org/I4210126779"],"apc_list":null,"apc_paid":null,"fwci":1.71583982,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.84912489,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"6947","last_page":"6952"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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/T11301","display_name":"Advanced Surface Polishing Techniques","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"}},{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9930999875068665,"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/parallel-manipulator","display_name":"Parallel manipulator","score":0.7905055284500122},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7746917009353638},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.6751723289489746},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.633707582950592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6050524711608887},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.5222628712654114},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44019991159439087},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3611726760864258},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2636066675186157},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24806943535804749},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.2440493404865265},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14215070009231567},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.112759530544281},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10126155614852905}],"concepts":[{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.7905055284500122},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7746917009353638},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.6751723289489746},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.633707582950592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6050524711608887},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.5222628712654114},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44019991159439087},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3611726760864258},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2636066675186157},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24806943535804749},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.2440493404865265},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14215070009231567},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.112759530544281},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10126155614852905},{"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2018.8460901","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8460901","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","score":0.5600000023841858,"id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W32277538","https://openalex.org/W61622581","https://openalex.org/W100179918","https://openalex.org/W144482285","https://openalex.org/W149028290","https://openalex.org/W640460597","https://openalex.org/W1872026823","https://openalex.org/W1953801994","https://openalex.org/W1992225021","https://openalex.org/W2013335333","https://openalex.org/W2035239704","https://openalex.org/W2036182757","https://openalex.org/W2105057748","https://openalex.org/W2125497630","https://openalex.org/W2152508761","https://openalex.org/W2164278974","https://openalex.org/W2170018377","https://openalex.org/W2212542299","https://openalex.org/W2302334718","https://openalex.org/W2338224571","https://openalex.org/W2503828604","https://openalex.org/W2563098876","https://openalex.org/W2607674023","https://openalex.org/W2726086015","https://openalex.org/W2772682679","https://openalex.org/W6601323230","https://openalex.org/W6602466981","https://openalex.org/W6603997589","https://openalex.org/W6605899450","https://openalex.org/W6605923605","https://openalex.org/W6996750698","https://openalex.org/W7000709020"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W2145154791","https://openalex.org/W2361688797","https://openalex.org/W2973099332","https://openalex.org/W625831653"],"abstract_inverted_index":{"Solving":[0],"the":[1,13,44,61,66,132,136,162],"direct":[2],"kinematics":[3],"(DK)":[4],"of":[5,84,114],"cable-driven":[6],"parallel":[7],"robots":[8,29],"(CDPR)":[9],"based":[10],"only":[11],"on":[12],"cable":[14,117,147,165],"length":[15],"measurements":[16,48,85],"is":[17,22,68,79],"a":[18,76,102,171,180],"demanding":[19],"problem":[20,42],"that":[21,74,97,107,146],"still":[23],"not":[24,155],"well":[25],"mastered,":[26],"especially":[27],"for":[28,161],"having":[30],"sagging":[31],"cables.":[32],"A":[33,56],"model-based":[34],"approach":[35],"may":[36,167],"be":[37,159,168],"used":[38,101,160],"to":[39,53,59,69,80,90,158],"solve":[40],"this":[41],"but":[43],"model":[45],"parameters":[46],"and":[47,63,88,119,128,150],"are":[49,86,154],"uncertain,":[50],"thereby":[51],"leading":[52],"positioning":[54],"inaccuracy.":[55],"possible":[57,87],"way":[58],"improve":[60],"accuracy":[62,173],"speed":[64],"up":[65],"solving":[67],"add":[70],"extra":[71,115,137],"measurements.":[72],"For":[73,96],"purpose":[75,98],"preliminary":[77],"step":[78],"determine":[81],"what":[82],"type":[83],"then":[89],"estimate":[91],"how":[92],"accurate":[93],"they":[94],"are.":[95],"we":[99,129],"have":[100,130],"CDPR":[103],"with":[104,111,139,170],"4":[105],"cables":[106],"has":[108,125],"been":[109,126],"instrumented":[110],"various":[112],"types":[113],"measurements:":[116],"tensions":[118,148],"orientations,":[120],"platform":[121,151],"orientation.":[122],"Ground":[123],"truth":[124],"established":[127],"compared":[131],"data":[133],"provided":[134],"by":[135],"sensors":[138,149,153],"their":[140],"real":[141],"values.":[142],"This":[143],"work":[144],"shows":[145],"orientation":[152],"good":[156,172],"candidates":[157],"DK":[163],"while":[164],"orientations":[166],"obtained":[169],"both":[174],"in":[175],"static":[176],"poses":[177],"or":[178],"during":[179],"quasi-static":[181],"motion.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
