{"id":"https://openalex.org/W3196432391","doi":"https://doi.org/10.1109/rcar52367.2021.9517556","title":"A Generalized Kinematic Error Modeling Method for Serial Industrial Robots Based on Product of Exponentials Formula","display_name":"A Generalized Kinematic Error Modeling Method for Serial Industrial Robots Based on Product of Exponentials Formula","publication_year":2021,"publication_date":"2021-07-15","ids":{"openalex":"https://openalex.org/W3196432391","doi":"https://doi.org/10.1109/rcar52367.2021.9517556","mag":"3196432391"},"language":"en","primary_location":{"id":"doi:10.1109/rcar52367.2021.9517556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","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/A5066374520","display_name":"Zeyin Zhao","orcid":"https://orcid.org/0000-0002-9877-1844"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyin Zhao","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327828","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0001-7543-6288"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060156913","display_name":"Jiafan Chen","orcid":"https://orcid.org/0009-0006-8052-0891"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiafan Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5052396495","display_name":"Mengzhong Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Mengzhong Chen","raw_affiliation_strings":["School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen, Shenzhen, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1389,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.45124736,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"1023","last_page":"1028"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9972000122070312,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.995199978351593,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8382233381271362},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7097870707511902},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5755912661552429},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5395142436027527},{"id":"https://openalex.org/keywords/exponential-function","display_name":"Exponential function","score":0.5353128910064697},{"id":"https://openalex.org/keywords/kinematic-chain","display_name":"Kinematic chain","score":0.48644590377807617},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.453986793756485},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4534896910190582},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4523254334926605},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.43804675340652466},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43403393030166626},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35549384355545044},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30730485916137695},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.19979119300842285},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.07155671715736389}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8382233381271362},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7097870707511902},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5755912661552429},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5395142436027527},{"id":"https://openalex.org/C151376022","wikidata":"https://www.wikidata.org/wiki/Q168698","display_name":"Exponential function","level":2,"score":0.5353128910064697},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.48644590377807617},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.453986793756485},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4534896910190582},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4523254334926605},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.43804675340652466},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43403393030166626},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35549384355545044},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30730485916137695},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.19979119300842285},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.07155671715736389},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/rcar52367.2021.9517556","is_oa":false,"landing_page_url":"https://doi.org/10.1109/rcar52367.2021.9517556","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Real-time Computing and Robotics (RCAR)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.41999998688697815,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[{"id":"https://openalex.org/G2434860281","display_name":null,"funder_award_id":"U1913206","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G897374758","display_name":null,"funder_award_id":"2019B090920001","funder_id":"https://openalex.org/F4320336405","funder_display_name":"Special Project for Research and Development in Key areas of Guangdong Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320336405","display_name":"Special Project for Research and Development in Key areas of Guangdong Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1983088122","https://openalex.org/W2019067872","https://openalex.org/W2035547721","https://openalex.org/W2061871196","https://openalex.org/W2065693146","https://openalex.org/W2126721296","https://openalex.org/W2144369268","https://openalex.org/W2460495915","https://openalex.org/W2751565523","https://openalex.org/W2756924539","https://openalex.org/W2918520731","https://openalex.org/W3108449827","https://openalex.org/W6743876648"],"related_works":["https://openalex.org/W4244295168","https://openalex.org/W1977333149","https://openalex.org/W2601046814","https://openalex.org/W2944714857","https://openalex.org/W2544369928","https://openalex.org/W2005471069","https://openalex.org/W4206303049","https://openalex.org/W2900509454","https://openalex.org/W2901276430","https://openalex.org/W4238033949"],"abstract_inverted_index":{"Geometric":[0],"errors":[1,16,24,76],"such":[2],"as":[3,39,115],"inaccurate":[4],"link":[5],"length":[6],"and":[7,29,77,123],"assembly":[8],"alignment":[9],"are":[10,32,86,93,127],"the":[11,26,52,89,102,105,116,131,134,141,146,151,162,170,175],"primary":[12],"sources":[13],"of":[14,54,68,104,133,150,177],"positioning":[15],"for":[17,120],"industrial":[18,178],"robots.":[19],"Besides,":[20],"complex":[21,78],"joint-dependent":[22,79],"kinematic":[23,46,62,80],"in":[25,44],"bearing":[27],"system":[28],"harmonic":[30],"drives":[31],"also":[33],"non-negligible.":[34],"The":[35,82],"robot":[36,99,154],"is":[37],"regarded":[38],"an":[40,96],"ideal":[41],"rigid":[42],"body":[43],"typical":[45],"models,":[47],"which":[48,72],"can":[49,144,173],"only":[50],"describe":[51,174],"influence":[53],"geometric":[55,75],"errors.":[56,81],"This":[57],"paper":[58],"proposes":[59],"a":[60],"generalized":[61],"error":[63,149],"model":[64,84,143,172],"based":[65],"on":[66,95,161],"product":[67],"exponentials":[69],"(POE)":[70],"formula,":[71],"contains":[73],"constant":[74],"unknown":[83],"parameters":[85],"identified":[87],"with":[88,180],"Levenberg-Marquardt":[90],"method.":[91],"Experiments":[92],"implemented":[94],"Efort":[97,152],"ECR5":[98,153],"to":[100,129,158],"validate":[101,130],"effectiveness":[103],"proposed":[106,135,142,171],"model.":[107,136],"In":[108],"these":[109],"experiments,":[110],"we":[111],"use":[112],"250":[113],"measurements":[114,126],"identification":[117],"data":[118,164],"set":[119],"parameter":[121],"identification,":[122],"other":[124],"100":[125],"utilized":[128],"accuracy":[132],"These":[137],"experiments":[138],"display":[139],"that":[140,169],"reduce":[145],"mean":[147],"position":[148],"from":[155],"2.014":[156],"mm":[157,160],"0.115":[159],"validation":[163],"set.":[165],"Experimental":[166],"results":[167],"prove":[168],"kinematics":[176],"robots":[179],"high":[181],"accuracy.":[182]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
