{"id":"https://openalex.org/W4388505334","doi":"https://doi.org/10.1109/lra.2023.3331293","title":"Kinematic Parameter Identification for Parallel Robots With Passive Limbs","display_name":"Kinematic Parameter Identification for Parallel Robots With Passive Limbs","publication_year":2023,"publication_date":"2023-11-08","ids":{"openalex":"https://openalex.org/W4388505334","doi":"https://doi.org/10.1109/lra.2023.3331293"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3331293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331293","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5026562485","display_name":"Zhiyuan He","orcid":"https://orcid.org/0000-0002-9285-4542"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhiyuan He","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036840301","display_name":"Binbin Lian","orcid":"https://orcid.org/0000-0002-6747-8565"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binbin Lian","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023912850","display_name":"Yimin Song","orcid":"https://orcid.org/0000-0002-9731-2865"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yimin Song","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050691990","display_name":"Tao Sun","orcid":"https://orcid.org/0000-0002-3781-0707"},"institutions":[{"id":"https://openalex.org/I162868743","display_name":"Tianjin University","ror":"https://ror.org/012tb2g32","country_code":"CN","type":"education","lineage":["https://openalex.org/I162868743"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Tao Sun","raw_affiliation_strings":["Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing, China"],"affiliations":[{"raw_affiliation_string":"Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China","institution_ids":["https://openalex.org/I162868743"]},{"raw_affiliation_string":"International Institute for Innovative Design and Intelligent Manufacturing of Tianjin University in Zhejiang, Shaoxing, China","institution_ids":["https://openalex.org/I162868743"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5026562485"],"corresponding_institution_ids":["https://openalex.org/I162868743"],"apc_list":null,"apc_paid":null,"fwci":0.938,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.75579424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":99},"biblio":{"volume":"9","issue":"1","first_page":"271","last_page":"278"},"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9994000196456909,"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":0.9984999895095825,"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/identifiability","display_name":"Identifiability","score":0.557705819606781},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5027427673339844},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4622803032398224},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4410473108291626},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4254404306411743},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.32415246963500977},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.32238680124282837},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.18045082688331604}],"concepts":[{"id":"https://openalex.org/C122770356","wikidata":"https://www.wikidata.org/wiki/Q1656753","display_name":"Identifiability","level":2,"score":0.557705819606781},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5027427673339844},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4622803032398224},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4410473108291626},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4254404306411743},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.32415246963500977},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.32238680124282837},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.18045082688331604},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2023.3331293","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2023.3331293","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2305100502","display_name":null,"funder_award_id":"52275027","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G3131121788","display_name":null,"funder_award_id":"20201193","funder_id":"https://openalex.org/F4320336756","funder_display_name":"Tianjin Science and Technology Program"},{"id":"https://openalex.org/G7242153016","display_name":null,"funder_award_id":"52275028","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8844489126","display_name":null,"funder_award_id":"62027812","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336756","display_name":"Tianjin Science and Technology Program","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W229700540","https://openalex.org/W1575647895","https://openalex.org/W1966063170","https://openalex.org/W1998735790","https://openalex.org/W2023621608","https://openalex.org/W2024651804","https://openalex.org/W2032555095","https://openalex.org/W2045235906","https://openalex.org/W2052598309","https://openalex.org/W2084387117","https://openalex.org/W2092186444","https://openalex.org/W2092205110","https://openalex.org/W2114866967","https://openalex.org/W2127852426","https://openalex.org/W2151203917","https://openalex.org/W2162259116","https://openalex.org/W2299163128","https://openalex.org/W2593175699","https://openalex.org/W2629453824","https://openalex.org/W2756686745","https://openalex.org/W2771415261","https://openalex.org/W2897121944","https://openalex.org/W3027315428","https://openalex.org/W3037438614","https://openalex.org/W3046156891","https://openalex.org/W3140801635","https://openalex.org/W4206378108","https://openalex.org/W4285098824"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2724847603","https://openalex.org/W2034041141","https://openalex.org/W2184661725","https://openalex.org/W112856298","https://openalex.org/W2573470972","https://openalex.org/W2105626102","https://openalex.org/W2131038454","https://openalex.org/W4240568257","https://openalex.org/W2900187352"],"abstract_inverted_index":{"Parallel":[0],"robots":[1],"have":[2,159],"passive":[3,7,122,157],"joints":[4],"and":[5,17,20,30,51,67,101,111,132,143,166],"even":[6],"limbs.":[8],"Current":[9],"calibration":[10,139],"methods":[11],"seldom":[12],"consider":[13],"the":[14,46,106,128,136,150,163,171],"resulted":[15],"identification":[16,62],"compensation":[18],"properties":[19],"thus":[21],"accuracy":[22,148,164],"improvement":[23,165],"is":[24,42,55,79,115],"affected.":[25],"This":[26],"letter":[27],"adopts":[28],"finite":[29],"instantaneous":[31],"screw":[32],"(FIS)":[33],"theory":[34],"as":[35],"mathematical":[36],"tool.":[37],"A":[38],"generalized":[39],"error":[40],"model":[41],"built":[43],"based":[44],"on":[45],"reciprocal":[47],"property":[48],"between":[49],"twist":[50,119],"wrench.":[52],"Parameter":[53],"identifiability":[54],"proved":[56],"by":[57],"discussing":[58],"linear":[59],"dependency":[60],"of":[61,75,108,121,149,156],"mapping":[63],"matrix":[64],"among":[65],"limbs":[66,123,158],"within":[68],"limb.":[69],"Maximum":[70],"independent":[71],"geometric":[72],"errors":[73,120,155],"number":[74],"any":[76],"parallel":[77,151],"robot":[78],"4":[80],"<italic":[81,85,89,94,98,102],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[82,86,90,95,99,103],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">r</i>":[83,96],"+4":[84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">h</i>":[87,100],"+2":[88],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">p</i>":[91,104],"+6,":[92],"where":[93],",":[97],"are":[105,124],"numbers":[107],"revolute,":[109],"helical":[110],"prismatic":[112],"joints.":[113],"It":[114],"found":[116],"that":[117,135],"joint":[118],"not":[125],"compensable":[126,144],"for":[127],"indirect":[129],"compensation.":[130],"Simulations":[131],"experiment":[133],"show":[134],"presented":[137],"FIS-based":[138],"method":[140],"with":[141],"identifiable":[142],"parameters":[145],"significantly":[146],"improves":[147],"robot.":[152],"In":[153],"addition,":[154],"no":[160],"contribution":[161],"to":[162],"can":[167],"be":[168],"ignored":[169],"from":[170],"modeling":[172],"phase.":[173]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
