{"id":"https://openalex.org/W4376457100","doi":"https://doi.org/10.1109/tie.2023.3273277","title":"A Robot Positional Error Compensation Method Based on Improved Kriging Interpolation and Kronecker Products","display_name":"A Robot Positional Error Compensation Method Based on Improved Kriging Interpolation and Kronecker Products","publication_year":2023,"publication_date":"2023-05-11","ids":{"openalex":"https://openalex.org/W4376457100","doi":"https://doi.org/10.1109/tie.2023.3273277"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2023.3273277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3273277","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-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/A5059013469","display_name":"Kang Min","orcid":"https://orcid.org/0000-0002-6537-8720"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Min","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-6537-8720","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0002-0184-1421","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100669603","display_name":"Zhaoyang Chen","orcid":"https://orcid.org/0000-0003-1580-0185"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyang Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100410370","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-3629-2626"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":"https://orcid.org/0000-0003-3629-2626","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5001804875","display_name":"Chen-Han Lee","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chen-Han Lee","raw_affiliation_strings":["Hanhua Intelligent Technology Company, Ltd., Suzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Hanhua Intelligent Technology Company, Ltd., Suzhou, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.5985,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.93242717,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"71","issue":"4","first_page":"3884","last_page":"3893"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9976000189781189,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9966999888420105,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6160350441932678},{"id":"https://openalex.org/keywords/sequential-quadratic-programming","display_name":"Sequential quadratic programming","score":0.5861108899116516},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5734374523162842},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.49799203872680664},{"id":"https://openalex.org/keywords/mean-squared-error","display_name":"Mean squared error","score":0.4827517867088318},{"id":"https://openalex.org/keywords/variogram","display_name":"Variogram","score":0.4590238034725189},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.44614097476005554},{"id":"https://openalex.org/keywords/design-matrix","display_name":"Design matrix","score":0.4100803732872009},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.39022937417030334},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.36767086386680603},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.332888126373291},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.2940318286418915},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.26202356815338135},{"id":"https://openalex.org/keywords/linear-regression","display_name":"Linear regression","score":0.13647004961967468},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.0941677987575531},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.08277279138565063}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6160350441932678},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.5861108899116516},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5734374523162842},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.49799203872680664},{"id":"https://openalex.org/C139945424","wikidata":"https://www.wikidata.org/wiki/Q1940696","display_name":"Mean squared error","level":2,"score":0.4827517867088318},{"id":"https://openalex.org/C154881674","wikidata":"https://www.wikidata.org/wiki/Q2269270","display_name":"Variogram","level":3,"score":0.4590238034725189},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.44614097476005554},{"id":"https://openalex.org/C203233044","wikidata":"https://www.wikidata.org/wiki/Q5264358","display_name":"Design matrix","level":3,"score":0.4100803732872009},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.39022937417030334},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.36767086386680603},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.332888126373291},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.2940318286418915},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.26202356815338135},{"id":"https://openalex.org/C48921125","wikidata":"https://www.wikidata.org/wiki/Q10861030","display_name":"Linear regression","level":2,"score":0.13647004961967468},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0941677987575531},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.08277279138565063},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"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/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2023.3273277","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2023.3273277","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5255173202","display_name":null,"funder_award_id":"51875114","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1965965110","https://openalex.org/W2017746048","https://openalex.org/W2025939589","https://openalex.org/W2038475164","https://openalex.org/W2040316938","https://openalex.org/W2049273394","https://openalex.org/W2056731056","https://openalex.org/W2062472098","https://openalex.org/W2062648109","https://openalex.org/W2065693146","https://openalex.org/W2079933384","https://openalex.org/W2081535564","https://openalex.org/W2152931111","https://openalex.org/W2460495915","https://openalex.org/W2508966285","https://openalex.org/W2751565523","https://openalex.org/W2800158990","https://openalex.org/W2809459138","https://openalex.org/W2885316998","https://openalex.org/W2902653438","https://openalex.org/W2918520731","https://openalex.org/W2981582971","https://openalex.org/W3003340711","https://openalex.org/W3007638595","https://openalex.org/W3027315428","https://openalex.org/W3033003543","https://openalex.org/W3108449827","https://openalex.org/W3141825679","https://openalex.org/W3175527454","https://openalex.org/W4213423041","https://openalex.org/W4256407389"],"related_works":["https://openalex.org/W2008528586","https://openalex.org/W2895220729","https://openalex.org/W2063246330","https://openalex.org/W2385459204","https://openalex.org/W2944090730","https://openalex.org/W2238232192","https://openalex.org/W2339058228","https://openalex.org/W2130373311","https://openalex.org/W1025896634","https://openalex.org/W2080791248"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3],"stable":[4],"and":[5,51,73,88,92,125,134,168,184],"high-accuracy":[6],"model-free":[7],"calibration":[8,123],"method":[9,32,141,161],"for":[10],"unopened":[11],"robotic":[12],"systems,":[13],"which":[14],"can":[15,142],"significantly":[16,128,143],"improve":[17],"the":[18,27,45,52,59,71,85,89,93,108,115,122,135,139,145,150,156,175],"robot":[19,86,116,146],"positional":[20,147,177],"accuracy.":[21],"Two":[22],"improvements":[23],"are":[24,56,99,127,179],"made":[25],"to":[26,33,58,113],"existing":[28,157],"kriging-based":[29,158],"error":[30,76,159],"compensation":[31,160],"achieve":[34],"robustness/practicality":[35],"enhancement":[36],"goals:":[37],"(1)":[38],"The":[39,62,79,165],"semi-variogram":[40,65],"model":[41],"is":[42,67],"solved":[43],"using":[44],"sequential":[46],"quadratic":[47],"programming":[48],"(SQP)":[49],"algorithm,":[50],"distance":[53],"weight":[54],"coefficients":[55],"added":[57],"objective":[60],"function.":[61],"accuracy":[63,124],"of":[64,75,174],"modeling":[66],"guaranteed,":[68],"thereby":[69],"improving":[70],"performance":[72],"stability":[74],"compensation.":[77],"(2)":[78],"hand-eye":[80],"(the":[81],"pose":[82],"matrix":[83],"between":[84],"base":[87,117],"laser":[90],"tracker)":[91],"tool":[94],"center":[95],"point":[96],"(TCP)":[97],"position":[98],"calibrated":[100],"based":[101],"on":[102,107],"Kronecker":[103,163],"products":[104],"without":[105,162],"relying":[106],"spatial":[109],"analyzer":[110],"(SA)":[111],"software":[112],"construct":[114],"coordinate":[118],"system":[119],"separately.":[120],"Thus,":[121],"efficiency":[126],"improved.":[129],"Experiments":[130],"have":[131],"been":[132],"conducted,":[133],"results":[136],"reveal":[137],"that":[138],"proposed":[140,151],"reduce":[144],"error.":[148],"Furthermore,":[149],"approach":[152],"performs":[153],"better":[154],"than":[155],"products.":[164],"maximum,":[166],"mean,":[167],"root":[169],"mean":[170],"square":[171],"(RMS)":[172],"values":[173],"absolute":[176],"errors":[178],"reduced":[180],"by":[181],"34.48%,":[182],"8.09%,":[183],"10.05%,":[185],"respectively.":[186]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}