{"id":"https://openalex.org/W2117344164","doi":"https://doi.org/10.1109/robio.2010.5723491","title":"Identifying a two linked robot with non-symmetrical modified friction and backlash-flexibility models","display_name":"Identifying a two linked robot with non-symmetrical modified friction and backlash-flexibility models","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2117344164","doi":"https://doi.org/10.1109/robio.2010.5723491","mag":"2117344164"},"language":"en","primary_location":{"id":"doi:10.1109/robio.2010.5723491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","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/A5086902271","display_name":"Javad Bahrami","orcid":null},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["IR"],"is_corresponding":true,"raw_author_name":"J. Bahrami","raw_affiliation_strings":["Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","Mechanical Engineering Dept., Isfahan University of Technology, Iran"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]},{"raw_affiliation_string":"Mechanical Engineering Dept., Isfahan University of Technology, Iran","institution_ids":["https://openalex.org/I170013655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110214443","display_name":"Me. Keshmiri","orcid":null},"institutions":[{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]},{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]}],"countries":["CA","IR"],"is_corresponding":false,"raw_author_name":"Me. Keshmiri","raw_affiliation_strings":["Concordia University, Montreal, Canada","Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","Mechanical Engineering Dept., Isfahan University of Technology, Iran"],"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]},{"raw_affiliation_string":"Mechanical Engineering Dept., Isfahan University of Technology, Iran","institution_ids":["https://openalex.org/I170013655"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006587909","display_name":"Mo. Keshmiri","orcid":null},"institutions":[{"id":"https://openalex.org/I60158472","display_name":"Concordia University","ror":"https://ror.org/0420zvk78","country_code":"CA","type":"education","lineage":["https://openalex.org/I60158472"]},{"id":"https://openalex.org/I170013655","display_name":"Isfahan University of Technology","ror":"https://ror.org/00af3sa43","country_code":"IR","type":"education","lineage":["https://openalex.org/I170013655"]}],"countries":["CA","IR"],"is_corresponding":false,"raw_author_name":"Mo. Keshmiri","raw_affiliation_strings":["Concordia University, Montreal, Canada","Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","Concordia University, 1455 De Maisonnueve blvd., Montreal, Canada H3G 1M8"],"affiliations":[{"raw_affiliation_string":"Concordia University, Montreal, Canada","institution_ids":["https://openalex.org/I60158472"]},{"raw_affiliation_string":"Mechanical Engineering Department, Isfahan University of Technology, Isfahan, Iran","institution_ids":["https://openalex.org/I170013655"]},{"raw_affiliation_string":"Concordia University, 1455 De Maisonnueve blvd., Montreal, Canada H3G 1M8","institution_ids":["https://openalex.org/I60158472"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070019550","display_name":"Hamid D. Taghirad","orcid":"https://orcid.org/0000-0002-0615-6730"},"institutions":[{"id":"https://openalex.org/I80543232","display_name":"K.N.Toosi University of Technology","ror":"https://ror.org/0433abe34","country_code":"IR","type":"education","lineage":["https://openalex.org/I80543232"]}],"countries":["IR"],"is_corresponding":false,"raw_author_name":"H. D. Taghirad","raw_affiliation_strings":["Mechanical Engineering Department, K.N. Toosi University of Technology, Iran","Mechanical Eng. Department, K.N. Toosi University of Technology, Tehran, Iran"],"affiliations":[{"raw_affiliation_string":"Mechanical Engineering Department, K.N. Toosi University of Technology, Iran","institution_ids":["https://openalex.org/I80543232"]},{"raw_affiliation_string":"Mechanical Eng. Department, K.N. Toosi University of Technology, Tehran, Iran","institution_ids":["https://openalex.org/I80543232"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5086902271"],"corresponding_institution_ids":["https://openalex.org/I170013655"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.13875974,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1154","last_page":"1159"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9979000091552734,"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/T11236","display_name":"Control Systems and Identification","score":0.9979000091552734,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9970999956130981,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9962999820709229,"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/backlash","display_name":"Backlash","score":0.9708842039108276},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7646251916885376},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5557608604431152},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.554753839969635},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5533209443092346},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5490373969078064},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5342565774917603},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5238149762153625},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5135200619697571},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5087907910346985},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.4977324306964874},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4884999990463257},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.4780488610267639},{"id":"https://openalex.org/keywords/grippers","display_name":"Grippers","score":0.4159250557422638},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4105425477027893},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23639315366744995},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1760595440864563},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.1675267517566681},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14319738745689392},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.13470295071601868},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09917673468589783}],"concepts":[{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.9708842039108276},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7646251916885376},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5557608604431152},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.554753839969635},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5533209443092346},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5490373969078064},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5342565774917603},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5238149762153625},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5135200619697571},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5087907910346985},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.4977324306964874},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4884999990463257},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.4780488610267639},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.4159250557422638},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4105425477027893},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23639315366744995},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1760595440864563},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.1675267517566681},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14319738745689392},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.13470295071601868},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09917673468589783},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","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},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio.2010.5723491","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio.2010.5723491","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2010 IEEE International Conference on Robotics and Biomimetics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1487127700","https://openalex.org/W1964511224","https://openalex.org/W1966692041","https://openalex.org/W1971493524","https://openalex.org/W2040496590","https://openalex.org/W2074246024","https://openalex.org/W2093014893","https://openalex.org/W2116231223","https://openalex.org/W2121287102","https://openalex.org/W2132102811","https://openalex.org/W2144556291","https://openalex.org/W2147350229","https://openalex.org/W2166588043","https://openalex.org/W2170090733","https://openalex.org/W2171477296","https://openalex.org/W4240691156","https://openalex.org/W4249762338","https://openalex.org/W6629040409"],"related_works":["https://openalex.org/W2318553114","https://openalex.org/W45990023","https://openalex.org/W2369073421","https://openalex.org/W2066639517","https://openalex.org/W2967708117","https://openalex.org/W2242762566","https://openalex.org/W1551453979","https://openalex.org/W2370149162","https://openalex.org/W2953861963","https://openalex.org/W2154548569"],"abstract_inverted_index":{"Identifying":[0,68],"a":[1,17,51,92],"robotic":[2],"system,":[3],"especially":[4],"in":[5,42,57,87,102,129,137],"presence":[6],"of":[7,47,53,59,112],"some":[8],"nonlinear":[9],"phenomena,":[10],"such":[11,31],"as":[12,32],"friction":[13,37,60,114],"and":[14,38,50,61,78,116],"backlash,":[15],"is":[16,28,63,94,135],"troublesome":[18],"problem.":[19],"In":[20],"this":[21,43,66,138],"paper,":[22],"initially":[23],"single":[24],"link":[25,35,70,84],"parameter":[26],"identification":[27,79,132],"discussed.":[29],"Parameters":[30],"actuators":[33],"parameter,":[34],"inertia,":[36],"backlash":[39,62,117],"are":[40,85,122],"identified":[41,113],"section.":[44],"A":[45],"combination":[46],"actuator's":[48],"model":[49,52],"two":[54,69],"flexible":[55],"masses":[56],"attendance":[58],"utilized":[64,136],"for":[65,81,96],"purpose.":[67],"robot":[71],"parameters":[72,100],"will":[73],"be":[74,105],"under":[75],"debate":[76],"afterwards":[77],"results":[80],"the":[82],"second":[83],"presented":[86],"three":[88],"distinct":[89],"forms.":[90],"Furthermore,":[91],"method":[93],"introduced":[95],"selecting":[97],"best":[98],"estimated":[99],"set,":[101],"order":[103],"to":[104],"exerted":[106],"on":[107,119],"systems":[108],"controller.":[109],"The":[110],"effects":[111],"torques":[115],"modeling":[118],"controller":[120],"improvement":[121],"presented.":[123],"Grey":[124],"box":[125,134],"structure":[126],"model,":[127],"available":[128],"Matlab's":[130],"system":[131],"tool":[133],"research.":[139]},"counts_by_year":[{"year":2016,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}