{"id":"https://openalex.org/W1960241449","doi":"https://doi.org/10.1109/robot.1985.1087281","title":"Self-calibration in robot manipulators","display_name":"Self-calibration in robot manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W1960241449","doi":"https://doi.org/10.1109/robot.1985.1087281","mag":"1960241449"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1985.1087281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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/A5108619641","display_name":"Amitabha Mukerjee","orcid":null},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"A. Mukerjee","raw_affiliation_strings":["Department of Mechanical Engineering, University of Rochester","University of Rochester"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Rochester","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"University of Rochester","institution_ids":["https://openalex.org/I5388228"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002822166","display_name":"D.H. Ballard","orcid":"https://orcid.org/0000-0002-2587-4818"},"institutions":[{"id":"https://openalex.org/I5388228","display_name":"University of Rochester","ror":"https://ror.org/022kthw22","country_code":"US","type":"education","lineage":["https://openalex.org/I5388228"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"D. Ballard","raw_affiliation_strings":["Department of Computer Science, University of Rochester","Dept. of Computer Science / University of Rochester"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science, University of Rochester","institution_ids":["https://openalex.org/I5388228"]},{"raw_affiliation_string":"Dept. of Computer Science / University of Rochester","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5108619641"],"corresponding_institution_ids":["https://openalex.org/I5388228"],"apc_list":null,"apc_paid":null,"fwci":0.9666,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.79436287,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"2","issue":null,"first_page":"1050","last_page":"1057"},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9993000030517578,"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":0.9957000017166138,"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/inverse-dynamics","display_name":"Inverse dynamics","score":0.7125315070152283},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.6231558322906494},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6023553609848022},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5968267321586609},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5781049132347107},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.577571451663971},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5561745166778564},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.5510748028755188},{"id":"https://openalex.org/keywords/moment","display_name":"Moment (physics)","score":0.5306305885314941},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.528538167476654},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.46862342953681946},{"id":"https://openalex.org/keywords/loop","display_name":"Loop (graph theory)","score":0.45410120487213135},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.43254554271698},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.4226447343826294},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40406325459480286},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3416404128074646},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2577096223831177},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24713099002838135},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21611911058425903},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15660998225212097},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.124325692653656},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.10527366399765015},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08494848012924194},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.08207237720489502}],"concepts":[{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.7125315070152283},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.6231558322906494},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6023553609848022},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5968267321586609},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5781049132347107},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.577571451663971},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5561745166778564},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.5510748028755188},{"id":"https://openalex.org/C179254644","wikidata":"https://www.wikidata.org/wiki/Q13222844","display_name":"Moment (physics)","level":2,"score":0.5306305885314941},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.528538167476654},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.46862342953681946},{"id":"https://openalex.org/C184670325","wikidata":"https://www.wikidata.org/wiki/Q512604","display_name":"Loop (graph theory)","level":2,"score":0.45410120487213135},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.43254554271698},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4226447343826294},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40406325459480286},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3416404128074646},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2577096223831177},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24713099002838135},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21611911058425903},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15660998225212097},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.124325692653656},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.10527366399765015},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08494848012924194},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.08207237720489502},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","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/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1985.1087281","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1985.1087281","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1985 IEEE International Conference on Robotics and Automation","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":11,"referenced_works":["https://openalex.org/W890733876","https://openalex.org/W1608062357","https://openalex.org/W1966552874","https://openalex.org/W1971749701","https://openalex.org/W1988264451","https://openalex.org/W2060118503","https://openalex.org/W2069872384","https://openalex.org/W2079315820","https://openalex.org/W2080017937","https://openalex.org/W2162046045","https://openalex.org/W6636353747"],"related_works":["https://openalex.org/W1485528464","https://openalex.org/W791843198","https://openalex.org/W4287867592","https://openalex.org/W2312921732","https://openalex.org/W2391397427","https://openalex.org/W400207537","https://openalex.org/W4252076751","https://openalex.org/W93192945","https://openalex.org/W4366609476","https://openalex.org/W4244458570"],"abstract_inverted_index":{"The":[0],"development":[1],"of":[2,33],"fast":[3],"recursive":[4],"methods":[5],"for":[6,19],"computing":[7],"manipulator":[8],"inverse":[9],"dynamics":[10],"has":[11],"made":[12],"possible":[13],"open":[14],"loop":[15],"control":[16],"strategies.":[17],"However,":[18],"these":[20,46],"strategies":[21],"to":[22],"work,":[23],"an":[24],"accurate":[25],"plant":[26,35],"model":[27],"is":[28],"required.":[29],"Two":[30],"key":[31],"components":[32,47],"the":[34],"are":[36],"frictional":[37],"terms":[38],"and":[39,53],"link/load":[40],"inertias.":[41],"This":[42],"paper":[43],"shows":[44],"how":[45],"may":[48],"be":[49],"computed":[50],"using":[51],"force":[52],"moment":[54],"sensing.":[55]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-09T08:58:05.943551","created_date":"2025-10-10T00:00:00"}