{"id":"https://openalex.org/W2566683778","doi":"https://doi.org/10.1109/iros.2016.7759386","title":"Performances of observability indices for industrial robot calibration","display_name":"Performances of observability indices for industrial robot calibration","publication_year":2016,"publication_date":"2016-10-01","ids":{"openalex":"https://openalex.org/W2566683778","doi":"https://doi.org/10.1109/iros.2016.7759386","mag":"2566683778"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2016.7759386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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/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":"A. Joubair","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035487922","display_name":"Antoine Tahan","orcid":"https://orcid.org/0000-0002-9228-5255"},"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":"A.S. Tahan","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","institution_ids":["https://openalex.org/I9736820"]}]},{"author_position":"last","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":"I.A. Bonev","raw_affiliation_strings":["\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"\u00c9cole de technologie sup\u00e9rieure, Montreal, QC, Canada","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":2.3435,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.88042662,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2477","last_page":"2484"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9988999962806702,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9988999962806702,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9980999827384949,"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":0.9962000250816345,"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/observability","display_name":"Observability","score":0.960918664932251},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.806900143623352},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6875846982002258},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.6495892405509949},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.6490163803100586},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6134350895881653},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5658868551254272},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4836314916610718},{"id":"https://openalex.org/keywords/monte-carlo-method","display_name":"Monte Carlo method","score":0.4148930609226227},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3604593873023987},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.28576093912124634},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2815302014350891},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23068055510520935},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08981195092201233}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.960918664932251},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.806900143623352},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6875846982002258},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.6495892405509949},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.6490163803100586},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6134350895881653},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5658868551254272},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4836314916610718},{"id":"https://openalex.org/C19499675","wikidata":"https://www.wikidata.org/wiki/Q232207","display_name":"Monte Carlo method","level":2,"score":0.4148930609226227},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3604593873023987},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.28576093912124634},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2815302014350891},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23068055510520935},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08981195092201233},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2016.7759386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2016.7759386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:espace2.etsmtl.ca:14198","is_oa":false,"landing_page_url":"https://espace2.etsmtl.ca/id/eprint/14198/","pdf_url":null,"source":{"id":"https://openalex.org/S4306402392","display_name":"Espace \u00c9TS (ETS)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1341030882","host_organization_name":"Educational Testing Service","host_organization_lineage":["https://openalex.org/I1341030882"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Compte rendu de conf\u00e9rence"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6000000238418579,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W111380034","https://openalex.org/W1493455551","https://openalex.org/W1497510400","https://openalex.org/W1971367915","https://openalex.org/W1979504223","https://openalex.org/W1987354295","https://openalex.org/W1995128555","https://openalex.org/W2003401806","https://openalex.org/W2022294197","https://openalex.org/W2031286453","https://openalex.org/W2037235723","https://openalex.org/W2045361471","https://openalex.org/W2046245205","https://openalex.org/W2078901215","https://openalex.org/W2084192558","https://openalex.org/W2108040552","https://openalex.org/W2108197520","https://openalex.org/W2114866967","https://openalex.org/W2116108132","https://openalex.org/W2119139471","https://openalex.org/W2128044034","https://openalex.org/W2128963970","https://openalex.org/W2144929124","https://openalex.org/W2146475047","https://openalex.org/W2157582177","https://openalex.org/W2163994834","https://openalex.org/W2942228371","https://openalex.org/W4229530126","https://openalex.org/W4246386119","https://openalex.org/W6677436389","https://openalex.org/W6681686519"],"related_works":["https://openalex.org/W2046459260","https://openalex.org/W2765830098","https://openalex.org/W2967463586","https://openalex.org/W1971989957","https://openalex.org/W2517338020","https://openalex.org/W2004247173","https://openalex.org/W2108197520","https://openalex.org/W2139310805","https://openalex.org/W2947659672","https://openalex.org/W2185717046"],"abstract_inverted_index":{"This":[0],"work":[1],"presents":[2],"a":[3,35,175,199,212,234],"comparison":[4,15,167],"of":[5,34,45,67,80,87,122,130,147,152,168,185,201],"the":[6,22,30,42,46,52,58,78,81,109,125,128,131,135,145,169,186,219,242],"five":[7],"observability":[8,25,117,170,221],"indices":[9,171],"used":[10],"for":[11,29,144,183,223],"robot":[12,47,59,224,239],"calibration.":[13,225],"The":[14,70,84,102,166,190],"is":[16,55,74,124,141,211],"realized":[17],"in":[18,65,107],"order":[19],"to":[20,41,196,207,233],"determine":[21],"most":[23],"appropriate":[24],"index,":[26],"which":[27,62,112],"allows":[28],"best":[31,43,220],"parameter":[32,71,136],"identification":[33,72,137],"calibrated":[36],"robot,":[37],"and":[38,98,155,159,161,240],"therefore":[39],"leading":[40],"improvement":[44],"accuracy.":[48],"In":[49],"this":[50],"study,":[51],"accuracy":[53],"analysis":[54],"based":[56,75],"on":[57,76,134],"end-effector":[60],"errors,":[61],"are":[63,90,105,113],"expressed":[64],"term":[66],"Euclidean":[68],"errors.":[69,83],"process":[73],"minimizing":[77],"residual":[79],"position":[82,103,191],"actual":[85],"values":[86],"these":[88],"positions":[89],"usually":[91],"measured":[92],"by":[93,115],"an":[94,227],"external":[95],"measurement":[96,100,132,192],"device":[97],"have":[99],"noise.":[101],"residuals":[104],"calculated":[106],"all":[108],"calibration":[110,146],"configurations,":[111],"selected":[114],"using":[116,179],"indices.":[118],"An":[119],"optimal":[120],"set":[121],"configurations":[123],"one":[126],"reducing":[127],"impact":[129],"noise":[133,193],"efficacy.":[138],"Our":[139],"study":[140,229],"carried":[142],"out":[143],"four":[148,187],"robots:":[149],"two":[150],"degrees":[151],"freedom":[153],"(DOF)":[154],"6-DOF":[156],"serial":[157],"robots,":[158],"2-DOF":[160],"3-DOF":[162],"planar":[163],"parallel":[164],"robots.":[165],"was":[172,194],"achieved":[173],"through":[174],"Monte":[176],"Carlo":[177],"simulation,":[178],"100":[180],"different":[181],"cases":[182],"each":[184],"robots":[188],"considered.":[189],"assumed":[195],"be":[197,217],"within":[198],"range":[200],"\u00b1":[202],"200":[203],"\u03bcm.":[204],"Investigations":[205],"led":[206],"conclude":[208],"that":[209,215],"there":[210],"specific":[213],"index":[214,222],"may":[216],"considered":[218],"Finally,":[226],"experimental":[228],"has":[230],"been":[231],"applied":[232],"LR":[235],"Mate":[236],"200ic":[237],"FANUC":[238],"confirms":[241],"simulated":[243],"results.":[244]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":5},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}