{"id":"https://openalex.org/W4391557889","doi":"https://doi.org/10.1109/ssd58187.2023.10411292","title":"Determining the Dynamic Parameters of a Robot Using the Method of Instrument Variables","display_name":"Determining the Dynamic Parameters of a Robot Using the Method of Instrument Variables","publication_year":2023,"publication_date":"2023-02-20","ids":{"openalex":"https://openalex.org/W4391557889","doi":"https://doi.org/10.1109/ssd58187.2023.10411292"},"language":"en","primary_location":{"id":"doi:10.1109/ssd58187.2023.10411292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd58187.2023.10411292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 20th International Multi-Conference on Systems, Signals & Devices (SSD)","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/A5074446523","display_name":"Saada Fadwa","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106624","display_name":"\u00c9cole Nationale d'Ing\u00e9nieurs de Gab\u00e8s","ror":"https://ror.org/01fy5k372","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210106624"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Saada Fadwa","raw_affiliation_strings":["ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","institution_ids":["https://openalex.org/I4210106624"]},{"raw_affiliation_string":"Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia","institution_ids":["https://openalex.org/I4210106624"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020330364","display_name":"Karim Chabir","orcid":"https://orcid.org/0000-0002-2377-7205"},"institutions":[{"id":"https://openalex.org/I4210106624","display_name":"\u00c9cole Nationale d'Ing\u00e9nieurs de Gab\u00e8s","ror":"https://ror.org/01fy5k372","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210106624"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Chabir Karim","raw_affiliation_strings":["ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","institution_ids":["https://openalex.org/I4210106624"]},{"raw_affiliation_string":"Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia","institution_ids":["https://openalex.org/I4210106624"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082032234","display_name":"Abdelkrim Mohamed Naceur","orcid":null},"institutions":[{"id":"https://openalex.org/I4210106624","display_name":"\u00c9cole Nationale d'Ing\u00e9nieurs de Gab\u00e8s","ror":"https://ror.org/01fy5k372","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210106624"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Abdelkrim Mohamed Naceur","raw_affiliation_strings":["ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ENIG,MACS Laboratory,Electrical Engineering,Gabes,Tunisia","institution_ids":["https://openalex.org/I4210106624"]},{"raw_affiliation_string":"Electrical Engineering, MACS Laboratory, ENIG, Gabes, Tunisia","institution_ids":["https://openalex.org/I4210106624"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I4210106624"],"apc_list":null,"apc_paid":null,"fwci":0.5845,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.66593,"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":"184","last_page":"189"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9994999766349792,"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":0.9994999766349792,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9966999888420105,"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/T11236","display_name":"Control Systems and Identification","score":0.9959999918937683,"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/overdetermined-system","display_name":"Overdetermined system","score":0.7818156480789185},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7261755466461182},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6804584264755249},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5664520859718323},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5246706008911133},{"id":"https://openalex.org/keywords/integrator","display_name":"Integrator","score":0.490075945854187},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4716063141822815},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.44237205386161804},{"id":"https://openalex.org/keywords/matrix","display_name":"Matrix (chemical analysis)","score":0.43865954875946045},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34900975227355957},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3260909914970398},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.28418803215026855},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.22822991013526917},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.0813785195350647}],"concepts":[{"id":"https://openalex.org/C81901731","wikidata":"https://www.wikidata.org/wiki/Q331348","display_name":"Overdetermined system","level":2,"score":0.7818156480789185},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7261755466461182},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6804584264755249},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5664520859718323},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5246706008911133},{"id":"https://openalex.org/C79518650","wikidata":"https://www.wikidata.org/wiki/Q2081431","display_name":"Integrator","level":3,"score":0.490075945854187},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4716063141822815},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.44237205386161804},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.43865954875946045},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34900975227355957},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3260909914970398},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.28418803215026855},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.22822991013526917},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0813785195350647},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"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/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","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/C2776257435","wikidata":"https://www.wikidata.org/wiki/Q1576430","display_name":"Bandwidth (computing)","level":2,"score":0.0},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/ssd58187.2023.10411292","is_oa":false,"landing_page_url":"https://doi.org/10.1109/ssd58187.2023.10411292","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 20th International Multi-Conference on Systems, Signals & Devices (SSD)","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":27,"referenced_works":["https://openalex.org/W37247277","https://openalex.org/W160502579","https://openalex.org/W296863324","https://openalex.org/W1747949188","https://openalex.org/W1864917393","https://openalex.org/W1914893953","https://openalex.org/W1969140852","https://openalex.org/W1992896705","https://openalex.org/W1994050170","https://openalex.org/W2001524797","https://openalex.org/W2027369479","https://openalex.org/W2034825286","https://openalex.org/W2053973063","https://openalex.org/W2078856056","https://openalex.org/W2080573942","https://openalex.org/W2088791590","https://openalex.org/W2090773881","https://openalex.org/W2102797102","https://openalex.org/W2106865725","https://openalex.org/W2113575195","https://openalex.org/W2118587090","https://openalex.org/W2138113005","https://openalex.org/W2159537373","https://openalex.org/W2317488534","https://openalex.org/W4252872793","https://openalex.org/W6606661012","https://openalex.org/W6851072039"],"related_works":["https://openalex.org/W4382516418","https://openalex.org/W2990591761","https://openalex.org/W4386576538","https://openalex.org/W1981326443","https://openalex.org/W2347376008","https://openalex.org/W2383044727","https://openalex.org/W4287998014","https://openalex.org/W28907793","https://openalex.org/W4244907930","https://openalex.org/W2171912896"],"abstract_inverted_index":{"The":[0,47,57,142],"identification":[1,68,125],"of":[2,12,59,69,100,137,150,169,179,182],"robot":[3,41,178],"dynamic":[4,23],"parameters":[5,24],"is":[6,17,37,42,50,126,173],"usually":[7],"based":[8],"on":[9],"the":[10,13,22,40,66,124,134,138,148,151],"use":[11],"reverse":[14],"model":[15,36],"which":[16,172],"linear":[18,53],"in":[19,118,128],"relation":[20],"to":[21,25,30,79,133,175],"be":[26,157],"identified.":[27],"In":[28],"order":[29],"get":[31],"an":[32,167],"overdetermined":[33],"system,":[34],"this":[35,60,90,163,170],"sampled":[38],"while":[39],"trained":[43],"with":[44,52],"fascinating":[45],"movements.":[46],"optimum":[48],"solution":[49],"obtained":[51],"least":[54],"squares":[55],"(LCL).":[56],"efficacy":[58],"approach":[61],"has":[62,76],"been":[63,77],"demonstrated":[64],"through":[65],"experimental":[67],"numerous":[70],"industrial":[71],"prototypes":[72],"and":[73,86,102,110,155,165],"robots.":[74],"It":[75,105],"expanded":[78],"other":[80],"systems":[81],"including":[82],"compactors,":[83],"cars,":[84],"engines":[85],"haptic":[87],"interfaces.":[88],"Though,":[89],"method":[91,146,171],"requires":[92,107],"accurate":[93],"measurement":[94],"at":[95],"a":[96,119,129,176],"fairly":[97],"high":[98],"rate":[99],"torque":[101],"position":[103],"image.":[104],"also":[106],"estimating":[108],"speeds":[109],"accelerations":[111],"by":[112],"band-pass":[113],"filtering":[114],"positions.":[115],"This":[116,160],"results":[117],"noisy":[120,152],"observation":[121],"matrix.":[122],"Furthermore,":[123],"done":[127],"closed":[130],"loop":[131],"due":[132],"unstable":[135],"nature":[136],"robots'":[139],"dual":[140],"integrator.":[141],"instrumental":[143],"variable":[144],"(IV)":[145],"addresses":[147],"problem":[149],"observational":[153],"matrix":[154],"can":[156],"statistically":[158],"optimal.":[159],"article":[161],"highlights":[162],"technique":[164],"proposes":[166],"extension":[168],"applied":[174],"flat":[177],"2":[180],"degrees":[181],"freedom":[183],"(DOF).":[184]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}