{"id":"https://openalex.org/W2157832558","doi":"https://doi.org/10.1109/robot.2010.5509512","title":"A kinematic error model for a parallel Gantry-Tau manipulator","display_name":"A kinematic error model for a parallel Gantry-Tau manipulator","publication_year":2010,"publication_date":"2010-05-01","ids":{"openalex":"https://openalex.org/W2157832558","doi":"https://doi.org/10.1109/robot.2010.5509512","mag":"2157832558"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2010.5509512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509512","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 Automation","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://lup.lub.lu.se/record/1627717","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080408758","display_name":"Isolde Dressler","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Isolde Dressler","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036363065","display_name":"Torgny Brog\u00e5rdh","orcid":null},"institutions":[{"id":"https://openalex.org/I4210104473","display_name":"CBot (Sweden)","ror":"https://ror.org/01e507517","country_code":"SE","type":"company","lineage":["https://openalex.org/I4210104473"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Torgny Brog\u00e5rdh","raw_affiliation_strings":["ABB Robotics AB, Vasteras, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Robotics AB, Vasteras, Sweden","institution_ids":["https://openalex.org/I4210104473"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013736282","display_name":"Anders Robertsson","orcid":"https://orcid.org/0000-0003-1063-4771"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Anders Robertsson","raw_affiliation_strings":["Department of Automatic Control, LTH, Lund University, Lund, Sweden"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Automatic Control, LTH, Lund University, Lund, Sweden","institution_ids":["https://openalex.org/I187531555"]}]}],"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":11,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3709","last_page":"3714"},"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":0.9927999973297119,"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/T11301","display_name":"Advanced Surface Polishing Techniques","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/workspace","display_name":"Workspace","score":0.9720178842544556},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.8743690252304077},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8155615329742432},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7034078240394592},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6152569651603699},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5911697149276733},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5109657049179077},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4816662073135376},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4221935570240021},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3790436387062073},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.29105761647224426},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.22856098413467407},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10960522294044495},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06958216428756714}],"concepts":[{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.9720178842544556},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.8743690252304077},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8155615329742432},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7034078240394592},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6152569651603699},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5911697149276733},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5109657049179077},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4816662073135376},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4221935570240021},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3790436387062073},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.29105761647224426},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.22856098413467407},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10960522294044495},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06958216428756714},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/robot.2010.5509512","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2010.5509512","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 Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:87f928da-16f2-41ea-8fdb-43a945d49220","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/1627717","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:lup.lub.lu.se:87f928da-16f2-41ea-8fdb-43a945d49220","is_oa":true,"landing_page_url":"https://lup.lub.lu.se/record/1627717","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W244321673","https://openalex.org/W2115782443","https://openalex.org/W2119963280","https://openalex.org/W2127852426","https://openalex.org/W2142150951","https://openalex.org/W2147867018","https://openalex.org/W2341668857","https://openalex.org/W4256526535","https://openalex.org/W6609388951"],"related_works":["https://openalex.org/W2362652060","https://openalex.org/W2357403317","https://openalex.org/W2066019639","https://openalex.org/W2394251694","https://openalex.org/W2026756596","https://openalex.org/W1917399524","https://openalex.org/W2948497870","https://openalex.org/W3013992645","https://openalex.org/W2159202887","https://openalex.org/W2483758673"],"abstract_inverted_index":{"Parallel":[0],"robots":[1],"are":[2,58,71],"generally":[3],"said":[4],"to":[5,10,16,36],"be":[6],"more":[7],"accurate":[8],"but":[9],"have":[11],"a":[12,23,27,51],"smaller":[13],"workspace":[14,30],"compared":[15],"serial":[17],"robots.":[18],"With":[19],"the":[20,38,45,65],"Gantry-Tau":[21,46],"robot,":[22],"parallel":[24],"robot":[25],"with":[26],"large,":[28],"reconfigurable":[29],"was":[31],"presented.":[32],"This":[33],"article":[34],"tries":[35],"identify":[37],"maximum":[39],"achievable":[40],"end-effector":[41],"positioning":[42,67],"accuracy":[43],"of":[44,53,64],"robot.":[47],"To":[48],"this":[49],"end,":[50],"couple":[52],"new":[54],"kinematic":[55],"error":[56],"models":[57],"presented":[59],"and":[60],"evaluated.":[61],"The":[62],"sources":[63],"remaining":[66],"errors":[68],"(0.09":[69],"mm)":[70],"discussed.":[72]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
