{"id":"https://openalex.org/W4409985369","doi":"https://doi.org/10.1109/tie.2025.3558058","title":"Dual-Tool Distance Constraint for Robot Length Parameter Identification in Confined Calibration Space","display_name":"Dual-Tool Distance Constraint for Robot Length Parameter Identification in Confined Calibration Space","publication_year":2025,"publication_date":"2025-04-30","ids":{"openalex":"https://openalex.org/W4409985369","doi":"https://doi.org/10.1109/tie.2025.3558058"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2025.3558058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3558058","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/A5100394665","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0003-0128-6701"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":"https://orcid.org/0000-0003-0128-6701","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008377523","display_name":"Jing Na","orcid":"https://orcid.org/0000-0002-3067-1580"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jing Na","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":"https://orcid.org/0000-0002-3067-1580","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073017831","display_name":"Guanbin Gao","orcid":"https://orcid.org/0000-0001-6857-0315"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Guanbin Gao","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":"https://orcid.org/0000-0001-6857-0315","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000438307","display_name":"Faxiang Zhang","orcid":"https://orcid.org/0000-0002-5555-9608"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Faxiang Zhang","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037584106","display_name":"Cheng Hou","orcid":"https://orcid.org/0000-0002-7375-4159"},"institutions":[{"id":"https://openalex.org/I10660446","display_name":"Kunming University of Science and Technology","ror":"https://ror.org/00xyeez13","country_code":"CN","type":"education","lineage":["https://openalex.org/I10660446"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Cheng Hou","raw_affiliation_strings":["Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China"],"raw_orcid":"https://orcid.org/0000-0002-7375-4159","affiliations":[{"raw_affiliation_string":"Faculty of Mechanical and Electrical Engineering, and Yunnan Key Laboratory of Intelligent Control and Application, Kunming University of Science and Technology, Kunming, China","institution_ids":["https://openalex.org/I10660446"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I10660446"],"apc_list":null,"apc_paid":null,"fwci":3.8885,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.93188776,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":95,"max":99},"biblio":{"volume":"72","issue":"11","first_page":"11455","last_page":"11463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.987500011920929,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing 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":0.9660999774932861,"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/T12549","display_name":"Image and Object Detection Techniques","score":0.958299994468689,"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/calibration","display_name":"Calibration","score":0.7102765440940857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6134025454521179},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.6126165986061096},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5522576570510864},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49706581234931946},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.49667102098464966},{"id":"https://openalex.org/keywords/parameter-space","display_name":"Parameter space","score":0.4631158113479614},{"id":"https://openalex.org/keywords/dual","display_name":"Dual (grammatical number)","score":0.45483511686325073},{"id":"https://openalex.org/keywords/length-measurement","display_name":"Length measurement","score":0.4212367534637451},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37841513752937317},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34633228182792664},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.33116790652275085},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3215411305427551},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2434711456298828},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.20830786228179932},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.14849171042442322},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.12556597590446472},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1174052357673645}],"concepts":[{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7102765440940857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6134025454521179},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.6126165986061096},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5522576570510864},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49706581234931946},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.49667102098464966},{"id":"https://openalex.org/C73586568","wikidata":"https://www.wikidata.org/wiki/Q2600211","display_name":"Parameter space","level":2,"score":0.4631158113479614},{"id":"https://openalex.org/C2780980858","wikidata":"https://www.wikidata.org/wiki/Q110022","display_name":"Dual (grammatical number)","level":2,"score":0.45483511686325073},{"id":"https://openalex.org/C21353171","wikidata":"https://www.wikidata.org/wiki/Q6522493","display_name":"Length measurement","level":2,"score":0.4212367534637451},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37841513752937317},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34633228182792664},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.33116790652275085},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3215411305427551},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2434711456298828},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.20830786228179932},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.14849171042442322},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.12556597590446472},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1174052357673645},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C124952713","wikidata":"https://www.wikidata.org/wiki/Q8242","display_name":"Literature","level":1,"score":0.0},{"id":"https://openalex.org/C142362112","wikidata":"https://www.wikidata.org/wiki/Q735","display_name":"Art","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2025.3558058","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2025.3558058","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/G1062031005","display_name":null,"funder_award_id":"62303200","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2366330145","display_name":null,"funder_award_id":"52265001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6020981496","display_name":null,"funder_award_id":"62273169","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":33,"referenced_works":["https://openalex.org/W1975172027","https://openalex.org/W1992656747","https://openalex.org/W2141379667","https://openalex.org/W2148407180","https://openalex.org/W2159777280","https://openalex.org/W2344590414","https://openalex.org/W2621766454","https://openalex.org/W2946150305","https://openalex.org/W2948959235","https://openalex.org/W3014089942","https://openalex.org/W3027315428","https://openalex.org/W3082763764","https://openalex.org/W3108449827","https://openalex.org/W3134579018","https://openalex.org/W3175527454","https://openalex.org/W4205750219","https://openalex.org/W4213050440","https://openalex.org/W4213423041","https://openalex.org/W4288064697","https://openalex.org/W4312052869","https://openalex.org/W4319764674","https://openalex.org/W4323914316","https://openalex.org/W4362678491","https://openalex.org/W4364322881","https://openalex.org/W4385249953","https://openalex.org/W4388098650","https://openalex.org/W4390771941","https://openalex.org/W4393105506","https://openalex.org/W4394586211","https://openalex.org/W4400620900","https://openalex.org/W4401386726","https://openalex.org/W4402336290","https://openalex.org/W4403114129"],"related_works":["https://openalex.org/W1968537504","https://openalex.org/W2317351040","https://openalex.org/W2807251790","https://openalex.org/W2952466936","https://openalex.org/W1963493750","https://openalex.org/W1988622314","https://openalex.org/W2393949104","https://openalex.org/W929811865","https://openalex.org/W2725083281","https://openalex.org/W4293424971"],"abstract_inverted_index":{"In":[0],"robotic":[1],"automation,":[2],"compact":[3],"layouts":[4],"and":[5,26,68,96],"the":[6,14,37,57,60,65,69,90,93,116,126,137],"limited":[7],"range":[8],"of":[9,64,92],"measurement":[10],"devices":[11],"often":[12],"confine":[13],"robot\u2019s":[15,138],"calibration":[16,39,118],"space,":[17],"leading":[18],"to":[19,88],"ill-conditioned":[20],"Jacobian":[21],"matrices":[22],"for":[23],"length":[24],"parameters":[25],"significant":[27],"estimation":[28],"errors.":[29],"To":[30],"address":[31],"this":[32,77],"issue,":[33],"joint":[34,70],"configurations":[35],"in":[36,115],"confined":[38,117],"space":[40,119],"are":[41],"modeled":[42],"as":[43],"perturbations":[44,72],"around":[45],"those":[46],"under":[47],"a":[48,80],"fixed":[49],"end-effector":[50],"position.":[51],"By":[52],"applying":[53],"matrix":[54,67,95],"perturbation":[55],"theory,":[56],"relationship":[58],"between":[59],"smallest":[61],"singular":[62],"value":[63],"identification":[66,94,99],"configuration":[71],"is":[73,86],"established.":[74],"Building":[75],"on":[76],"theoretical":[78],"basis,":[79],"novel":[81],"dual-tool":[82],"distance":[83],"constraint":[84],"method":[85,103],"introduced":[87],"alleviate":[89],"ill-conditioning":[91,132],"enhance":[97],"parameter":[98],"accuracy.":[100,140],"The":[101],"proposed":[102,127],"was":[104],"validated":[105],"using":[106],"an":[107],"ABB":[108],"IRB":[109],"4600":[110],"industrial":[111],"robot.":[112],"Experimental":[113],"results":[114],"demonstrate":[120],"that,":[121],"compared":[122],"with":[123],"conventional":[124],"methods,":[125],"approach":[128],"not":[129],"only":[130],"mitigates":[131],"but":[133],"also":[134],"significantly":[135],"improves":[136],"positioning":[139]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}