{"id":"https://openalex.org/W4410949690","doi":"https://doi.org/10.1109/lra.2025.3575639","title":"Unified Gravitational and Elasto-Geometrical Calibration for an Industrial Robot Using Closed-Form Formulation","display_name":"Unified Gravitational and Elasto-Geometrical Calibration for an Industrial Robot Using Closed-Form Formulation","publication_year":2025,"publication_date":"2025-06-02","ids":{"openalex":"https://openalex.org/W4410949690","doi":"https://doi.org/10.1109/lra.2025.3575639"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3575639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575639","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/A5057292374","display_name":"Zhongkai Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhongkai Zhang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045627473","display_name":"Hongbo Hu","orcid":"https://orcid.org/0000-0003-3788-0577"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongbo Hu","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115957038","display_name":"Pengxin Zha","orcid":null},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Pengxin Zha","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033176730","display_name":"Chungang Zhuang","orcid":"https://orcid.org/0000-0003-3715-5615"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Chungang Zhuang","raw_affiliation_strings":["School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5057292374"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":3.7811,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.93205394,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":91,"max":100},"biblio":{"volume":"10","issue":"7","first_page":"7619","last_page":"7626"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.998199999332428,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","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"}}],"keywords":[{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.64892578125},{"id":"https://openalex.org/keywords/gravitation","display_name":"Gravitation","score":0.5785281658172607},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5476325154304504},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4146595001220703},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.38562971353530884},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3527681827545166},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.35108378529548645},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.29990053176879883},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2552323639392853}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.64892578125},{"id":"https://openalex.org/C124017977","wikidata":"https://www.wikidata.org/wiki/Q11412","display_name":"Gravitation","level":2,"score":0.5785281658172607},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5476325154304504},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4146595001220703},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.38562971353530884},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3527681827545166},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.35108378529548645},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.29990053176879883},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2552323639392853},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3575639","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3575639","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/G8853904330","display_name":null,"funder_award_id":"52275500","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"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1611306188","https://openalex.org/W2025939589","https://openalex.org/W2031286453","https://openalex.org/W2056731056","https://openalex.org/W2106678458","https://openalex.org/W2126721296","https://openalex.org/W2150024155","https://openalex.org/W2751565523","https://openalex.org/W2902238704","https://openalex.org/W2903955805","https://openalex.org/W2978205648","https://openalex.org/W3008128737","https://openalex.org/W3113198977","https://openalex.org/W3126587741","https://openalex.org/W3141825679","https://openalex.org/W3158857536","https://openalex.org/W4283066034","https://openalex.org/W4285242222","https://openalex.org/W4296772799","https://openalex.org/W4321380812","https://openalex.org/W4323305608","https://openalex.org/W4324026228","https://openalex.org/W4362678491","https://openalex.org/W4364322881","https://openalex.org/W4366607166","https://openalex.org/W4380421126","https://openalex.org/W4389168603","https://openalex.org/W4392567312","https://openalex.org/W4394564133","https://openalex.org/W4399469378","https://openalex.org/W4404788344","https://openalex.org/W6636600811"],"related_works":["https://openalex.org/W8302103","https://openalex.org/W3171631314","https://openalex.org/W2674584172","https://openalex.org/W2967743314","https://openalex.org/W2606825221","https://openalex.org/W2082635999","https://openalex.org/W766354842","https://openalex.org/W2479504816","https://openalex.org/W4394640192","https://openalex.org/W2126178549"],"abstract_inverted_index":{"The":[0,76,141],"absolute":[1],"positioning":[2],"accuracy":[3],"of":[4,54,95,102,124,149],"industrial":[5,127],"robots":[6],"is":[7,105,114,129],"significant":[8],"in":[9],"modern":[10],"manufacturing":[11],"scenarios.":[12],"Mainstream":[13],"approaches":[14],"mostly":[15],"focus":[16],"on":[17,72],"calibrating":[18],"kinematic":[19],"and":[20,67,88,107],"joint":[21,46,86],"compliance":[22],"models":[23],"to":[24,42,51,116,134],"compensate":[25],"for":[26],"position":[27,122],"errors.":[28],"However,":[29],"previous":[30],"elasto-geometrical":[31,68],"calibrations":[32],"typically":[33],"employ":[34],"a":[35,52,64,80,125],"priori":[36],"gravity":[37,89,103],"parameters":[38],"(e.g.,":[39],"link":[40],"mass)":[41],"estimate":[43],"the":[44,73,93,121,138,147,150],"compliant":[45],"deformation,":[47],"which":[48],"inevitably":[49],"leads":[50],"loss":[53],"accuracy.":[55],"To":[56],"obtain":[57],"more":[58],"accurate":[59],"results,":[60],"this":[61],"paper":[62],"proposes":[63],"unified":[65,81],"gravitational":[66],"calibration":[69,118],"method":[70,78],"based":[71],"closed-form":[74],"expression.":[75],"proposed":[77,139,151],"establishes":[79],"model":[82],"that":[83],"integrates":[84],"kinematic,":[85],"stiffness,":[87],"parameters,":[90],"thereby":[91],"enabling":[92],"handling":[94],"inter-model":[96],"coupling":[97],"characteristics.":[98],"An":[99],"analytic":[100],"derivative":[101],"torque":[104],"derived,":[106],"an":[108],"improved":[109],"adaptive":[110],"damping":[111],"Levenberg-Marquardt":[112],"algorithm":[113],"utilized":[115],"accelerate":[117],"convergence.":[119],"Finally,":[120],"error":[123],"serial":[126],"robot":[128],"reduced":[130],"from":[131],"3.329":[132],"mm":[133,136],"0.251":[135],"using":[137],"method.":[140,152],"load":[142],"generalization":[143],"experiments":[144],"further":[145],"validate":[146],"effectiveness":[148]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}