{"id":"https://openalex.org/W2773313192","doi":"https://doi.org/10.1109/iros.2017.8206479","title":"Comparison of trajectory parametrization methods with statistical analysis for dynamic parameter identification of serial robot","display_name":"Comparison of trajectory parametrization methods with statistical analysis for dynamic parameter identification of serial robot","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773313192","doi":"https://doi.org/10.1109/iros.2017.8206479","mag":"2773313192"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206479","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/A5017337432","display_name":"Fares J. Abu\u2010Dakka","orcid":"https://orcid.org/0000-0001-9062-9416"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Fares J. Abu-Dakka","raw_affiliation_strings":["Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Italy"],"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics (ADVR), Istituto Italiano di Tecnologia (IIT), Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069979062","display_name":"Miguel D\u00edaz\u2010Rodr\u00edguez","orcid":"https://orcid.org/0000-0001-7243-4957"},"institutions":[{"id":"https://openalex.org/I203303854","display_name":"University of the Andes","ror":"https://ror.org/02h1b1x27","country_code":"VE","type":"education","lineage":["https://openalex.org/I203303854"]}],"countries":["VE"],"is_corresponding":false,"raw_author_name":"Miguel Diaz-Rodriguez","raw_affiliation_strings":["Laboratorio de Mecatr\u00f3nica y Rob\u00f3tica, Universidad de los Andes, M\u00e9rida, Venezuela"],"affiliations":[{"raw_affiliation_string":"Laboratorio de Mecatr\u00f3nica y Rob\u00f3tica, Universidad de los Andes, M\u00e9rida, Venezuela","institution_ids":["https://openalex.org/I203303854"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5017337432"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.20363758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"5874","last_page":"5879"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9948999881744385,"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/T11236","display_name":"Control Systems and Identification","score":0.9948999881744385,"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/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9879000186920166,"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/trajectory","display_name":"Trajectory","score":0.7865909337997437},{"id":"https://openalex.org/keywords/parametrization","display_name":"Parametrization (atmospheric modeling)","score":0.6105861067771912},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5812151432037354},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5699931383132935},{"id":"https://openalex.org/keywords/trajectory-optimization","display_name":"Trajectory optimization","score":0.5556598901748657},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5259255170822144},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.49460265040397644},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.47908908128738403},{"id":"https://openalex.org/keywords/fourier-series","display_name":"Fourier series","score":0.44575831294059753},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.42473936080932617},{"id":"https://openalex.org/keywords/series","display_name":"Series (stratigraphy)","score":0.42448189854621887},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4172128140926361},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33535319566726685},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29779213666915894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.21187973022460938}],"concepts":[{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7865909337997437},{"id":"https://openalex.org/C202887219","wikidata":"https://www.wikidata.org/wiki/Q3895221","display_name":"Parametrization (atmospheric modeling)","level":3,"score":0.6105861067771912},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5812151432037354},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5699931383132935},{"id":"https://openalex.org/C173246807","wikidata":"https://www.wikidata.org/wiki/Q7833062","display_name":"Trajectory optimization","level":3,"score":0.5556598901748657},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5259255170822144},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.49460265040397644},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.47908908128738403},{"id":"https://openalex.org/C207864730","wikidata":"https://www.wikidata.org/wiki/Q179467","display_name":"Fourier series","level":2,"score":0.44575831294059753},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.42473936080932617},{"id":"https://openalex.org/C143724316","wikidata":"https://www.wikidata.org/wiki/Q312468","display_name":"Series (stratigraphy)","level":2,"score":0.42448189854621887},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4172128140926361},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33535319566726685},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29779213666915894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.21187973022460938},{"id":"https://openalex.org/C74902906","wikidata":"https://www.wikidata.org/wiki/Q1190858","display_name":"Radiative transfer","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206479","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206479","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W347082435","https://openalex.org/W421662763","https://openalex.org/W1964511224","https://openalex.org/W1969140852","https://openalex.org/W1973240993","https://openalex.org/W2001524797","https://openalex.org/W2012040124","https://openalex.org/W2021816077","https://openalex.org/W2031667223","https://openalex.org/W2036881070","https://openalex.org/W2052324963","https://openalex.org/W2066779753","https://openalex.org/W2078856056","https://openalex.org/W2079315820","https://openalex.org/W2082511574","https://openalex.org/W2108360210","https://openalex.org/W2116231223","https://openalex.org/W2132261933","https://openalex.org/W2141537501","https://openalex.org/W2151186798","https://openalex.org/W2159537373","https://openalex.org/W2266380092","https://openalex.org/W2331138946","https://openalex.org/W2467392579","https://openalex.org/W4285719527","https://openalex.org/W6611553609"],"related_works":["https://openalex.org/W2903025760","https://openalex.org/W4289147272","https://openalex.org/W4385832323","https://openalex.org/W4244391535","https://openalex.org/W2356996864","https://openalex.org/W2904060783","https://openalex.org/W2015393961","https://openalex.org/W2378339670","https://openalex.org/W2359353485","https://openalex.org/W2361427670"],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"an":[3,59,171],"approach":[4,159],"for":[5,9,37,71,146,173],"designing":[6],"exciting":[7],"trajectories":[8],"parameter":[10],"identification":[11,72],"of":[12,19,32,52,67,81,90,92,97,114,124],"serial":[13],"robots":[14],"based":[15],"on":[16],"a":[17,95,121],"combination":[18],"Fourier":[20],"Series":[21],"(FS)":[22],"and":[23,84,86,105,175],"Schroeder":[24],"Phased":[25],"Harmonic":[26],"Sequence":[27],"(SPHS).":[28],"An":[29,137],"initial":[30,44,50],"estimation":[31],"the":[33,43,49,53,64,68,79,88,100,112,115,152,157],"trajectory":[34,45,154],"is":[35,107,126],"designed":[36],"each":[38,91],"link":[39],"using":[40],"SPHS.":[41],"Afterwards,":[42],"enable":[46],"to":[47,58,110,128,165],"find":[48],"parameters":[51,66],"FS":[54,69,83,167],"which":[55,168],"are":[56,132],"fed":[57],"optimization":[60],"process":[61],"that":[62,151],"finds":[63],"optimal":[65,153],"used":[70],"purpose.":[73],"Like":[74],"this,":[75],"we":[76],"can":[77,169],"take":[78],"advantages":[80],"both":[82],"SPHS":[85,106],"eliminate":[87],"disadvantages":[89],"them.":[93],"Moreover,":[94],"comparison":[96],"results":[98],"between;":[99],"proposed":[101,158],"method,":[102],"original":[103,166],"FS,":[104],"taking":[108],"place":[109],"demonstrate":[111],"effectiveness":[113],"new":[116],"approach.":[117],"In":[118],"this":[119],"vein,":[120],"one-way":[122],"analysis":[123],"variance":[125],"conducted":[127],"compare":[129],"whether":[130],"there":[131],"significant":[133],"improvement":[134],"or":[135],"not.":[136],"PA10":[138],"7DoF":[139],"arm":[140],"robot":[141],"serves":[142],"as":[143],"test":[144],"bed":[145],"conducting":[147],"experiments.":[148],"Findings":[149],"shows":[150],"found":[155],"through":[156],"requires":[160],"less":[161],"computation":[162],"time":[163],"compared":[164],"be":[170],"advantage":[172],"fast":[174],"robust":[176],"identification.":[177]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
