{"id":"https://openalex.org/W2775264013","doi":"https://doi.org/10.1109/iros.2017.8205950","title":"New method for decoupling the articular stiffness identification: Application to an industrial robot with double encoding system on its 3 first axis","display_name":"New method for decoupling the articular stiffness identification: Application to an industrial robot with double encoding system on its 3 first axis","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775264013","doi":"https://doi.org/10.1109/iros.2017.8205950","mag":"2775264013"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8205950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 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/A5024956502","display_name":"Alexandre Ambiehl","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexandre Ambiehl","raw_affiliation_strings":["Gebe2productique, Europetechnologies group, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Gebe2productique, Europetechnologies group, France","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067767337","display_name":"S\u00e9bastien Garnier","orcid":"https://orcid.org/0000-0002-8229-9258"},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Sebastien Garnier","raw_affiliation_strings":["ROMAS Team, IUT, France","LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROMAS Team, IUT, France","institution_ids":[]},{"raw_affiliation_string":"LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030047023","display_name":"K\u00e9vin Subrin","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Kevin Subrin","raw_affiliation_strings":["ROMAS Team, IUT, France","LS2N - \u00e9quipe RoMas - Robots and Machines for Manufacturing, Society and Services (France)","LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROMAS Team, IUT, France","institution_ids":[]},{"raw_affiliation_string":"LS2N - \u00e9quipe RoMas - Robots and Machines for Manufacturing, Society and Services (France)","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]},{"raw_affiliation_string":"LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5107352256","display_name":"Beno\u00eet Furet","orcid":null},"institutions":[{"id":"https://openalex.org/I4210117005","display_name":"Laboratoire des Sciences du Num\u00e9rique de Nantes","ror":"https://ror.org/02snf8m58","country_code":"FR","type":"facility","lineage":["https://openalex.org/I100445878","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I205703379","https://openalex.org/I4210117005","https://openalex.org/I4210124215","https://openalex.org/I4210127572","https://openalex.org/I4210139971","https://openalex.org/I97188460","https://openalex.org/I97188460"]},{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benoit Furet","raw_affiliation_strings":["ROMAS Team, IUT, France","LS2N - \u00e9quipe RoMas - Robots and Machines for Manufacturing, Society and Services (France)","LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ROMAS Team, IUT, France","institution_ids":[]},{"raw_affiliation_string":"LS2N - \u00e9quipe RoMas - Robots and Machines for Manufacturing, Society and Services (France)","institution_ids":["https://openalex.org/I97188460","https://openalex.org/I4210117005"]},{"raw_affiliation_string":"LS2N - Laboratoire des Sciences du Num\u00e9rique de Nantes (Universit\u00e9 de Nantes \u2013 facult\u00e9 des Sciences et Techniques (FST)\r\n2 Chemin de la Houssini\u00e8re\r\nBP 92208, 44322 Nantes Cedex 3 - France)","institution_ids":["https://openalex.org/I4210117005","https://openalex.org/I97188460"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3967,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.64641477,"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":"1478","last_page":"1483"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9968000054359436,"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":0.9968000054359436,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9919000267982483,"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/T11398","display_name":"Hand Gesture Recognition Systems","score":0.9765999913215637,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stiffness","display_name":"Stiffness","score":0.7550220489501953},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.7474898099899292},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.7426986694335938},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5470730066299438},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5403833985328674},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5114873647689819},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45359817147254944},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4437597990036011},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3948994278907776},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.381908655166626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3193446397781372},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.284280002117157},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07543373107910156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.057344406843185425}],"concepts":[{"id":"https://openalex.org/C2779372316","wikidata":"https://www.wikidata.org/wiki/Q569057","display_name":"Stiffness","level":2,"score":0.7550220489501953},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.7474898099899292},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.7426986694335938},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5470730066299438},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5403833985328674},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5114873647689819},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45359817147254944},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4437597990036011},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3948994278907776},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.381908655166626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3193446397781372},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.284280002117157},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07543373107910156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.057344406843185425},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8205950","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8205950","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-01693066v1","is_oa":false,"landing_page_url":"https://hal.science/hal-01693066","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. ⟨10.1109/IROS.2017.8205950⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.5600000023841858}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":12,"referenced_works":["https://openalex.org/W1551371275","https://openalex.org/W1982114890","https://openalex.org/W1983241812","https://openalex.org/W1988895017","https://openalex.org/W2026850673","https://openalex.org/W2056731056","https://openalex.org/W2057331692","https://openalex.org/W2077696237","https://openalex.org/W2079933384","https://openalex.org/W2090611165","https://openalex.org/W2097968966","https://openalex.org/W2132478108"],"related_works":["https://openalex.org/W2152950565","https://openalex.org/W1617565119","https://openalex.org/W2370561272","https://openalex.org/W4366597393","https://openalex.org/W2320707241","https://openalex.org/W2034073473","https://openalex.org/W2527311170","https://openalex.org/W3045723897","https://openalex.org/W2465714433","https://openalex.org/W2990389574"],"abstract_inverted_index":{"In":[0,74],"order":[1],"to":[2,5,21,34,82,141],"be":[3],"able":[4,140],"perform":[6],"complex":[7],"and":[8,40,67,93,106,119,128],"arduous":[9],"tasks,":[10],"stiffness":[11,65,124],"articular":[12,125],"identification":[13,92],"of":[14,44,122,146],"industrial":[15,45,112],"robots":[16],"is":[17,71],"a":[18,41,79],"current":[19,55,104],"approach":[20,81],"predict":[22],"the":[23,36,61,64,68,90,94,117,120,123,131,147],"deflection":[24],"under":[25],"static":[26],"or":[27],"dynamic":[28],"loading.":[29],"Manufacturers":[30],"propose":[31,78],"new":[32,42,80,111],"features":[33],"take":[35,83,142],"loading":[37],"into":[38,86,143],"account":[39,87,144],"generation":[43],"robot":[46],"equiped":[47],"with":[48,127],"double":[49,132],"encoding":[50,133],"systems":[51],"are":[52,139],"proposed.":[53],"However,":[54],"methods":[56,105],"brings":[57],"some":[58],"drawbacks":[59],"when":[60],"ratio":[62],"between":[63],"arm":[66,91],"wrist":[69,95],"one":[70],"too":[72],"high.":[73],"this":[75,84,110],"paper,":[76],"we":[77,138],"aspect":[85],"by":[88],"decoupling":[89],"one.":[96],"We":[97],"compare":[98],"then":[99],"our":[100,136],"method":[101],"regarding":[102],"two":[103],"applied":[107],"it":[108],"on":[109],"robot.":[113],"The":[114],"results":[115],"highlight":[116],"stability":[118],"quality":[121],"estimation":[126],"without":[129],"activating":[130],"system.":[134],"On":[135],"data,":[137],"84%":[145],"global":[148],"deflection.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}