{"id":"https://openalex.org/W1985033343","doi":"https://doi.org/10.1109/mmar.2012.6347894","title":"Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit","display_name":"Large-amplitude base-motion compensation of a serial robot using an inertial measurement unit","publication_year":2012,"publication_date":"2012-08-01","ids":{"openalex":"https://openalex.org/W1985033343","doi":"https://doi.org/10.1109/mmar.2012.6347894","mag":"1985033343"},"language":"en","primary_location":{"id":"doi:10.1109/mmar.2012.6347894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2012.6347894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 17th International Conference on Methods &amp; Models in Automation &amp; Robotics (MMAR)","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/A5044500124","display_name":"Vladimirs Leontjevs","orcid":null},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Vladimirs Leontjevs","raw_affiliation_strings":["Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany"],"affiliations":[{"raw_affiliation_string":"Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071873162","display_name":"Francisco Geu Flores","orcid":"https://orcid.org/0000-0002-8106-0894"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Francisco Geu Flores","raw_affiliation_strings":["Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany"],"affiliations":[{"raw_affiliation_string":"Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039439659","display_name":"Jes\u00fas Ram\u00e9 L\u00f3pez","orcid":"https://orcid.org/0000-0002-7480-949X"},"institutions":[{"id":"https://openalex.org/I178450904","display_name":"National University of Distance Education","ror":"https://ror.org/02msb5n36","country_code":"ES","type":"education","lineage":["https://openalex.org/I178450904"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Jesus Lopez","raw_affiliation_strings":["Departamento de Mec\u00e1nica, UNED (Spanish National University of Distance Education), Madrid, Spain","Departamento de Mec\u00e1nica. UNED. Madrid. Spain., C/ Juan del Rosai 12, 28040, Madrid (Spain)"],"affiliations":[{"raw_affiliation_string":"Departamento de Mec\u00e1nica, UNED (Spanish National University of Distance Education), Madrid, Spain","institution_ids":["https://openalex.org/I178450904"]},{"raw_affiliation_string":"Departamento de Mec\u00e1nica. UNED. Madrid. Spain., C/ Juan del Rosai 12, 28040, Madrid (Spain)","institution_ids":["https://openalex.org/I178450904"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083450760","display_name":"Leon\u012bds Ribickis","orcid":"https://orcid.org/0000-0001-9077-1981"},"institutions":[{"id":"https://openalex.org/I201787326","display_name":"Riga Technical University","ror":"https://ror.org/00twb6c09","country_code":"LV","type":"education","lineage":["https://openalex.org/I201787326"]}],"countries":["LV"],"is_corresponding":false,"raw_author_name":"Leonids Ribickis","raw_affiliation_strings":["Riga Technical University, Riga, Latvia","Riga Technical University, Kalku iela 1, Riga, LV-1658, Latvia"],"affiliations":[{"raw_affiliation_string":"Riga Technical University, Riga, Latvia","institution_ids":["https://openalex.org/I201787326"]},{"raw_affiliation_string":"Riga Technical University, Kalku iela 1, Riga, LV-1658, Latvia","institution_ids":["https://openalex.org/I201787326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109093800","display_name":"Andr\u00e9s Kecskem\u00e9thy","orcid":"https://orcid.org/0000-0002-2044-7892"},"institutions":[{"id":"https://openalex.org/I62318514","display_name":"University of Duisburg-Essen","ror":"https://ror.org/04mz5ra38","country_code":"DE","type":"education","lineage":["https://openalex.org/I62318514"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Andres Kecskemethy","raw_affiliation_strings":["Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany"],"affiliations":[{"raw_affiliation_string":"Mechanics and Robotics, University of Duisburg-Essen, Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]},{"raw_affiliation_string":"Chair of Mechanics and Robotics, University Duisburg-Essen Lotharstrasse 1, 47057 Duisburg, Germany","institution_ids":["https://openalex.org/I62318514"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5044500124"],"corresponding_institution_ids":["https://openalex.org/I62318514"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.06652071,"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":"166","last_page":"171"},"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.996399998664856,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9958000183105469,"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/base","display_name":"Base (topology)","score":0.6203222274780273},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5983068943023682},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5610384345054626},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.5035266280174255},{"id":"https://openalex.org/keywords/amplitude","display_name":"Amplitude","score":0.49604424834251404},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4848109781742096},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4677296578884125},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.45455044507980347},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4436623454093933},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.43121716380119324},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4288978576660156},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.39875736832618713},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33987855911254883},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24061337113380432},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.169321209192276},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.09600415825843811},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.07961413264274597}],"concepts":[{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.6203222274780273},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5983068943023682},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5610384345054626},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.5035266280174255},{"id":"https://openalex.org/C180205008","wikidata":"https://www.wikidata.org/wiki/Q159190","display_name":"Amplitude","level":2,"score":0.49604424834251404},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4848109781742096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4677296578884125},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.45455044507980347},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4436623454093933},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.43121716380119324},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4288978576660156},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.39875736832618713},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33987855911254883},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24061337113380432},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.169321209192276},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.09600415825843811},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.07961413264274597},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar.2012.6347894","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar.2012.6347894","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 17th International Conference on Methods &amp; Models in Automation &amp; Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W321738389","https://openalex.org/W2015003349","https://openalex.org/W2017088513","https://openalex.org/W2096627817","https://openalex.org/W2097919178","https://openalex.org/W2117571644","https://openalex.org/W2138898866","https://openalex.org/W2144230201","https://openalex.org/W2151918811","https://openalex.org/W2156441448","https://openalex.org/W2170358923","https://openalex.org/W2271357415","https://openalex.org/W3168095073","https://openalex.org/W6611158191"],"related_works":["https://openalex.org/W1992503747","https://openalex.org/W2371519816","https://openalex.org/W2043154226","https://openalex.org/W2369529107","https://openalex.org/W2109948066","https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220"],"abstract_inverted_index":{"This":[0],"paper":[1],"describes":[2],"the":[3,46,59],"kinematical":[4],"analysis":[5],"and":[6,82],"control":[7],"of":[8,31],"a":[9,28,37,51,54,66,78],"large":[10,91],"spatial":[11,39],"robot":[12,60],"for":[13,27,77],"base":[14,43],"motion":[15,40],"compensation":[16],"using":[17],"an":[18],"inertial":[19],"measurement":[20],"unit.":[21],"The":[22,72],"proposed":[23],"method":[24],"is":[25,75],"intended":[26],"6":[29],"degrees":[30],"freedom":[32],"serial":[33],"manipulator,":[34],"which":[35],"compensates":[36],"large-amplitude":[38],"at":[41],"its":[42],"such":[44],"that":[45],"end":[47],"effector":[48],"maintains":[49],"to":[50],"high":[52],"degree":[53],"prescribed":[55],"target":[56],"location.":[57],"Hereby,":[58],"circumvents":[61],"hand":[62],"wrist":[63],"singularities":[64],"by":[65],"new":[67],"virtual":[68],"redundant":[69],"joint":[70],"approach.":[71],"overall":[73],"system":[74,81],"tested":[76],"KUKA":[79],"KR500":[80],"computergenerated":[83],"as":[84,86],"well":[85],"real":[87],"wave":[88],"signals":[89],"with":[90],"amplitudes.":[92]},"counts_by_year":[{"year":2020,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
