{"id":"https://openalex.org/W3002384575","doi":"https://doi.org/10.1109/robio49542.2019.8961386","title":"Absolute Positioning Error Modeling and Compensation of a 6-DOF Industrial Robot","display_name":"Absolute Positioning Error Modeling and Compensation of a 6-DOF Industrial Robot","publication_year":2019,"publication_date":"2019-12-01","ids":{"openalex":"https://openalex.org/W3002384575","doi":"https://doi.org/10.1109/robio49542.2019.8961386","mag":"3002384575"},"language":"en","primary_location":{"id":"doi:10.1109/robio49542.2019.8961386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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/A5113938150","display_name":"Zhenya He","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Zhenya He","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058245792","display_name":"Ruian Zhang","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruian Zhang","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101469051","display_name":"Xianmin Zhang","orcid":"https://orcid.org/0000-0001-9472-3151"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xianmin Zhang","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064464127","display_name":"Zhong Chen","orcid":"https://orcid.org/0000-0001-9712-5149"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhong Chen","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056635676","display_name":"Guojian Huang","orcid":null},"institutions":[{"id":"https://openalex.org/I4210100872","display_name":"Guangzhou Academy of Special Equipment Inspection and Testing","ror":"https://ror.org/012pz7r49","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210100872"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guojian Huang","raw_affiliation_strings":["Guangzhou Academy Special Equipment Inspection &#x0026; Testing,Guangzhou,China,510663","Guangzhou Academy Special Equipment Inspection & Testing, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Guangzhou Academy Special Equipment Inspection &#x0026; Testing,Guangzhou,China,510663","institution_ids":["https://openalex.org/I4210100872"]},{"raw_affiliation_string":"Guangzhou Academy Special Equipment Inspection & Testing, Guangzhou, China","institution_ids":["https://openalex.org/I4210100872"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066913680","display_name":"Antai Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Antai Zhou","raw_affiliation_strings":["South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"South China University of Technology,Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology,Guangzhou,China,510640","institution_ids":["https://openalex.org/I90610280"]},{"raw_affiliation_string":"Guangdong Provincial Key Laboratory of Precision Equipment and Manufacturing Technology, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5113938150"],"corresponding_institution_ids":["https://openalex.org/I90610280"],"apc_list":null,"apc_paid":null,"fwci":0.4989,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.67432502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"840","last_page":"845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.996999979019165,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9943000078201294,"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/compensation","display_name":"Compensation (psychology)","score":0.67359459400177},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6030721664428711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5862776637077332},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.44850340485572815},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.41151660680770874},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36578869819641113},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3569931089878082},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3503990173339844},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.28744444251060486},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0840279757976532}],"concepts":[{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.67359459400177},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6030721664428711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5862776637077332},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.44850340485572815},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.41151660680770874},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36578869819641113},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3569931089878082},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3503990173339844},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.28744444251060486},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0840279757976532},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio49542.2019.8961386","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robio49542.2019.8961386","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W105026832","https://openalex.org/W1497662434","https://openalex.org/W1551371275","https://openalex.org/W1867541325","https://openalex.org/W1966870218","https://openalex.org/W2016314800","https://openalex.org/W2027401668","https://openalex.org/W2140781725","https://openalex.org/W2148756062","https://openalex.org/W2178609753","https://openalex.org/W2246023205","https://openalex.org/W2556196160","https://openalex.org/W2583334744","https://openalex.org/W2716514530","https://openalex.org/W2774328584","https://openalex.org/W2885316998","https://openalex.org/W2934971075","https://openalex.org/W2961913909","https://openalex.org/W2966814141","https://openalex.org/W2971257514","https://openalex.org/W4245081424","https://openalex.org/W4256407389"],"related_works":["https://openalex.org/W4244907930","https://openalex.org/W2171912896","https://openalex.org/W2922441285","https://openalex.org/W2407180395","https://openalex.org/W2901276430","https://openalex.org/W4238033949","https://openalex.org/W3135439126","https://openalex.org/W2900509454","https://openalex.org/W1837495523","https://openalex.org/W2771857660"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,24],"absolute":[4,134],"positioning":[5,135],"error":[6,21,80,88,90,107,111,130],"modeling":[7,22,112],"and":[8,72,113,122,124],"compensation":[9,53,76,81,114,131],"method":[10,35,54,115],"considering":[11],"measuring":[12,48],"errors":[13,45],"for":[14,128],"a":[15,101],"6-DOF":[16],"industrial":[17,139],"robot.":[18],"Firstly,":[19],"the":[20,31,52,57,63,70,75,79,86,97,110,129,138],"of":[23,74,104,137],"ABB":[25],"IRB":[26],"120":[27],"robot":[28],"based":[29,55],"on":[30,56],"modified":[32],"Denavit-Hartenberg":[33],"(D-H)":[34],"was":[36,60],"established,":[37],"it":[38],"took":[39],"into":[40],"account":[41],"not":[42],"only":[43],"geometric":[44],"but":[46],"also":[47],"errors.":[49],"And":[50],"then":[51],"joint":[58],"angles":[59],"introduced.":[61],"Secondly,":[62],"simulation":[64],"experiments":[65,82],"were":[66,83],"adopted":[67],"to":[68,132],"verify":[69],"feasibility":[71],"effectiveness":[73],"method.":[77],"Finally,":[78],"conducted,":[84],"including":[85],"measurement,":[87],"identification,":[89],"compensation.":[91,108],"The":[92],"experimental":[93],"results":[94],"show":[95],"that":[96],"accuracy":[98,136],"can":[99],"have":[100],"significant":[102],"improvement":[103],"73.94%":[105],"after":[106],"Hence,":[109],"presented":[116],"in":[117],"this":[118],"study":[119],"is":[120],"sensible":[121],"effective,":[123],"could":[125],"be":[126],"used":[127],"improve":[133],"robots.":[140]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
