{"id":"https://openalex.org/W4390099752","doi":"https://doi.org/10.1109/robio58561.2023.10354567","title":"A robot geometric error identification method based on a hybrid LR-QNLM algorithm","display_name":"A robot geometric error identification method based on a hybrid LR-QNLM algorithm","publication_year":2023,"publication_date":"2023-12-04","ids":{"openalex":"https://openalex.org/W4390099752","doi":"https://doi.org/10.1109/robio58561.2023.10354567"},"language":"en","primary_location":{"id":"doi:10.1109/robio58561.2023.10354567","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5100671479","display_name":"Cheng Li","orcid":"https://orcid.org/0000-0001-8291-249X"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Li","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014839417","display_name":"Zeyuan Yang","orcid":"https://orcid.org/0000-0002-0870-0162"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zeyuan Yang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5106406646","display_name":"Sijie Yan","orcid":"https://orcid.org/0009-0000-0388-2510"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Sijie Yan","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100743979","display_name":"Yifan Yang","orcid":"https://orcid.org/0000-0003-4801-0358"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yifan Yang","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102913780","display_name":"Xiaohu Xu","orcid":"https://orcid.org/0000-0003-0843-4199"},"institutions":[{"id":"https://openalex.org/I37461747","display_name":"Wuhan University","ror":"https://ror.org/033vjfk17","country_code":"CN","type":"education","lineage":["https://openalex.org/I37461747"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaohu Xu","raw_affiliation_strings":["Wuhan University,Institute of Technological Sciences,Wuhan,Hubei,China,430072"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Wuhan University,Institute of Technological Sciences,Wuhan,Hubei,China,430072","institution_ids":["https://openalex.org/I37461747"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101403207","display_name":"Jing Yue","orcid":"https://orcid.org/0000-0002-8936-0162"},"institutions":[{"id":"https://openalex.org/I47720641","display_name":"Huazhong University of Science and Technology","ror":"https://ror.org/00p991c53","country_code":"CN","type":"education","lineage":["https://openalex.org/I47720641"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Yue","raw_affiliation_strings":["Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Huazhong University of Science and Technology,State Key Laboratory of Intelligent Manufacturing Equipment and Technology, School of Mechanical Science and Engineering,Wuhan,China,430074","institution_ids":["https://openalex.org/I47720641"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"18","issue":null,"first_page":"1","last_page":"6"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9983000159263611,"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":0.9905999898910522,"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/hessian-matrix","display_name":"Hessian matrix","score":0.6847864985466003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6306071281433105},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6253790855407715},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5739302635192871},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.522082507610321},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.4614599347114563},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.44894999265670776},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4129425585269928},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3197249174118042},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2805796265602112},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10700201988220215}],"concepts":[{"id":"https://openalex.org/C203616005","wikidata":"https://www.wikidata.org/wiki/Q620495","display_name":"Hessian matrix","level":2,"score":0.6847864985466003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6306071281433105},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6253790855407715},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5739302635192871},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.522082507610321},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.4614599347114563},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.44894999265670776},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4129425585269928},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3197249174118042},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2805796265602112},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10700201988220215},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","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/robio58561.2023.10354567","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio58561.2023.10354567","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/1","display_name":"No poverty","score":0.5899999737739563}],"awards":[],"funders":[{"id":"https://openalex.org/F4320330944","display_name":"Nature","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1970752792","https://openalex.org/W2019067872","https://openalex.org/W2056731056","https://openalex.org/W2062294426","https://openalex.org/W2076738099","https://openalex.org/W2092087339","https://openalex.org/W2148784278","https://openalex.org/W2150344946","https://openalex.org/W2167137033","https://openalex.org/W2522291391","https://openalex.org/W2611470729","https://openalex.org/W2750386548","https://openalex.org/W2751565523","https://openalex.org/W2756924539","https://openalex.org/W2964247400","https://openalex.org/W3047836064","https://openalex.org/W3141825679","https://openalex.org/W3158857536","https://openalex.org/W4289656817","https://openalex.org/W4315783561","https://openalex.org/W4385453290","https://openalex.org/W6727142403","https://openalex.org/W6745458946"],"related_works":["https://openalex.org/W2611031068","https://openalex.org/W1704347466","https://openalex.org/W4283017538","https://openalex.org/W1996936972","https://openalex.org/W1545275724","https://openalex.org/W2802707792","https://openalex.org/W2569979269","https://openalex.org/W2075777916","https://openalex.org/W3021699548","https://openalex.org/W4291718021"],"abstract_inverted_index":{"In":[0],"order":[1],"to":[2,33,80,106,116],"improve":[3],"the":[4,10,40,51,62,72,91,126,137,140],"poor":[5],"accuracy":[6,129],"of":[7,90,139],"industrial":[8],"robots,":[9],"calibration":[11,25,122],"technique":[12],"for":[13,85],"robot":[14,63,127],"geometric":[15],"parameters":[16],"has":[17],"emerged":[18],"as":[19,30,71],"a":[20,45,86,99,112],"mainstream":[21],"approach.":[22],"However,":[23],"existing":[24],"algorithms":[26],"do":[27],"not":[28],"perform":[29],"expected":[31],"due":[32],"initial":[34],"large":[35],"residual":[36],"errors.":[37],"To":[38],"solve":[39],"problem,":[41],"this":[42],"work":[43],"proposes":[44],"hybrid":[46,76],"LR-QNLM":[47],"algorithm":[48,103],"based":[49],"on":[50],"modified":[52],"quasi-Newton":[53],"(MQN)":[54],"and":[55,94,130],"Levenberg-Marquardt-Fletcher":[56],"(LMF)":[57],"methods.":[58],"Firstly,":[59],"we":[60],"build":[61],"kinematic":[64],"error":[65],"identification":[66],"model":[67],"considering":[68],"extended":[69],"axes":[70],"objective":[73],"equation.":[74],"Then,":[75],"strategies":[77],"are":[78,132],"used":[79,105,115],"incorporate":[81],"two":[82],"methods":[83],"above":[84],"more":[87,118],"accurate":[88],"approximation":[89],"Hessian":[92],"matrix":[93],"well-local":[95],"convergence":[96],"property.":[97],"Moreover,":[98],"non-monotonic":[100],"linear":[101],"search":[102],"is":[104],"achieve":[107,117],"sufficient":[108],"descent":[109],"ability":[110],"with":[111],"control":[113],"criterion":[114],"precise":[119],"iteration.":[120],"Finally,":[121],"experiments":[123],"show":[124],"that":[125],"positioning":[128],"robustness":[131],"well":[133],"improved,":[134],"which":[135],"verifies":[136],"feasibility":[138],"proposed":[141],"method.":[142]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}