{"id":"https://openalex.org/W4297685744","doi":"https://doi.org/10.1109/mmar55195.2022.9874334","title":"Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot","display_name":"Frequency-based Identification Routine for the Inertial Parameters of an Industrial Robot","publication_year":2022,"publication_date":"2022-08-22","ids":{"openalex":"https://openalex.org/W4297685744","doi":"https://doi.org/10.1109/mmar55195.2022.9874334"},"language":"en","primary_location":{"id":"doi:10.1109/mmar55195.2022.9874334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and 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/A5059608985","display_name":"Lukas Grundel","orcid":"https://orcid.org/0000-0001-5375-1498"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Lukas Grundel","raw_affiliation_strings":["RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067717261","display_name":"Antonio Alipaz-Dicke","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Antonio Alipaz-Dicke","raw_affiliation_strings":["RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045893178","display_name":"Minh Trinh","orcid":"https://orcid.org/0000-0002-2611-5995"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Minh Trinh","raw_affiliation_strings":["RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108724527","display_name":"Simon Storms","orcid":null},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Simon Storms","raw_affiliation_strings":["RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067996292","display_name":"Christian Brecher","orcid":"https://orcid.org/0000-0002-8049-3364"},"institutions":[{"id":"https://openalex.org/I887968799","display_name":"RWTH Aachen University","ror":"https://ror.org/04xfq0f34","country_code":"DE","type":"education","lineage":["https://openalex.org/I887968799"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Christian Brecher","raw_affiliation_strings":["RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany"],"affiliations":[{"raw_affiliation_string":"RWTH Aachen University,Laboratory for Machine Tools,Aachen,Germany","institution_ids":["https://openalex.org/I887968799"]},{"raw_affiliation_string":"Laboratory for Machine Tools, RWTH Aachen University, Aachen, Germany","institution_ids":["https://openalex.org/I887968799"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5005080560","display_name":"David Bitterolf","orcid":null},"institutions":[{"id":"https://openalex.org/I1325886976","display_name":"Siemens (Germany)","ror":"https://ror.org/059mq0909","country_code":"DE","type":"company","lineage":["https://openalex.org/I1325886976"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"David Bitterolf","raw_affiliation_strings":["Siemens AG,Business Unit Motion Control,Erlangen,Germany","Business Unit Motion Control, Siemens AG, Erlangen, Germany"],"affiliations":[{"raw_affiliation_string":"Siemens AG,Business Unit Motion Control,Erlangen,Germany","institution_ids":["https://openalex.org/I1325886976"]},{"raw_affiliation_string":"Business Unit Motion Control, Siemens AG, Erlangen, Germany","institution_ids":["https://openalex.org/I1325886976"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5059608985"],"corresponding_institution_ids":["https://openalex.org/I887968799"],"apc_list":null,"apc_paid":null,"fwci":0.2411,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.50970997,"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":"352","last_page":"357"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9950000047683716,"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":0.9950000047683716,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9937999844551086,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11236","display_name":"Control Systems and Identification","score":0.9926999807357788,"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/frequency-domain","display_name":"Frequency domain","score":0.7263113260269165},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.726227879524231},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.6995407342910767},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6614241600036621},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5753098130226135},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5711233615875244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5624257326126099},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5075711011886597},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.4547823965549469},{"id":"https://openalex.org/keywords/time-domain","display_name":"Time domain","score":0.42888689041137695},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.4214264750480652},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.41412997245788574},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40511220693588257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33213651180267334},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2421102523803711},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.1310185194015503},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12526428699493408},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.082652747631073}],"concepts":[{"id":"https://openalex.org/C19118579","wikidata":"https://www.wikidata.org/wiki/Q786423","display_name":"Frequency domain","level":2,"score":0.7263113260269165},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.726227879524231},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.6995407342910767},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6614241600036621},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5753098130226135},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5711233615875244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5624257326126099},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5075711011886597},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.4547823965549469},{"id":"https://openalex.org/C103824480","wikidata":"https://www.wikidata.org/wiki/Q185889","display_name":"Time domain","level":2,"score":0.42888689041137695},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.4214264750480652},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.41412997245788574},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40511220693588257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33213651180267334},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2421102523803711},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.1310185194015503},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12526428699493408},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.082652747631073},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/mmar55195.2022.9874334","is_oa":false,"landing_page_url":"https://doi.org/10.1109/mmar55195.2022.9874334","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 26th International Conference on Methods and Models in Automation and Robotics (MMAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.5}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1968739377","https://openalex.org/W1973240993","https://openalex.org/W1981996891","https://openalex.org/W1987940649","https://openalex.org/W2007864935","https://openalex.org/W2018911853","https://openalex.org/W2150646391","https://openalex.org/W2518735096","https://openalex.org/W2801910602","https://openalex.org/W2953228878","https://openalex.org/W3088917398","https://openalex.org/W3109137980","https://openalex.org/W4243385754","https://openalex.org/W4243983217","https://openalex.org/W4252403148","https://openalex.org/W4301491118","https://openalex.org/W6776131660"],"related_works":["https://openalex.org/W2782295999","https://openalex.org/W2162306796","https://openalex.org/W1970292246","https://openalex.org/W4382999732","https://openalex.org/W2016162169","https://openalex.org/W4247952185","https://openalex.org/W1895367623","https://openalex.org/W1642462315","https://openalex.org/W2015118744","https://openalex.org/W2005619368"],"abstract_inverted_index":{"The":[0,114],"frequency":[1,25,57],"response":[2,58],"of":[3,18,49,60,96,106,123],"an":[4,42,120],"industrial":[5],"robot's":[6],"(IR)":[7],"speed-controlled":[8],"system":[9],"(SCS)":[10],"provides":[11],"valuable":[12],"information":[13],"about":[14],"the":[15,19,24,36,46,56,61,79,90,97,104,107,112,130],"inertial":[16,47],"parameters":[17,48],"respective":[20],"manipulator.":[21],"In":[22,88],"addition,":[23,89],"domain":[26],"offers":[27],"decisive":[28],"advantages":[29],"regarding":[30],"parameter":[31],"identification":[32,43,92],"as":[33],"opposed":[34],"to":[35,75,81,118],"time":[37],"domain.":[38],"This":[39],"paper":[40],"presents":[41],"routine":[44],"for":[45,103],"a":[50,64],"6-degree-of-freedom":[51],"(DOF)":[52],"IR":[53],"based":[54],"on":[55],"measurements":[59,71],"SCS":[62],"and":[63,77,100],"genetic":[65],"algorithm":[66],"(GA)":[67],"conditioning":[68],"approach.":[69],"These":[70],"are":[72],"less":[73],"susceptible":[74],"noise":[76],"offer":[78],"possibility":[80],"incorporate":[82],"friction":[83],"effects":[84],"using":[85],"phase":[86],"information.":[87],"presented":[91],"model":[93],"is":[94,116],"independent":[95],"joint":[98],"speed":[99],"acceleration,":[101],"allowing":[102],"optimization":[105],"observation":[108],"matrix":[109],"exclusively":[110],"through":[111],"pose.":[113],"GA":[115],"used":[117],"define":[119],"optimal":[121],"set":[122],"poses":[124],"while":[125],"considering":[126],"possible":[127],"collisions":[128],"at":[129],"same":[131],"time.":[132]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
