{"id":"https://openalex.org/W4406610668","doi":"https://doi.org/10.1109/tii.2024.3523540","title":"Nonsingular Hand-Eye and Robot-World Calibration for SCARA-Type Robots: A Comparative Study","display_name":"Nonsingular Hand-Eye and Robot-World Calibration for SCARA-Type Robots: A Comparative Study","publication_year":2025,"publication_date":"2025-01-20","ids":{"openalex":"https://openalex.org/W4406610668","doi":"https://doi.org/10.1109/tii.2024.3523540"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2024.3523540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3523540","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","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/A5037191466","display_name":"Gumin Jin","orcid":"https://orcid.org/0000-0003-2706-6029"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Gumin Jin","raw_affiliation_strings":["Department of Automation, School of Electronic Information and Electric Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, School of Electronic Information and Electric Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100608388","display_name":"Xingkai Yu","orcid":"https://orcid.org/0000-0002-7422-7406"},"institutions":[{"id":"https://openalex.org/I153473198","display_name":"North China Electric Power University","ror":"https://ror.org/04qr5t414","country_code":"CN","type":"education","lineage":["https://openalex.org/I153473198"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xingkai Yu","raw_affiliation_strings":["School of Control and Computer Engineering, North China Electric Power University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Control and Computer Engineering, North China Electric Power University, Beijing, China","institution_ids":["https://openalex.org/I153473198"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001675070","display_name":"Yuqing Chen","orcid":"https://orcid.org/0000-0003-1286-0617"},"institutions":[{"id":"https://openalex.org/I69356397","display_name":"Xi\u2019an Jiaotong-Liverpool University","ror":"https://ror.org/03zmrmn05","country_code":"CN","type":"education","lineage":["https://openalex.org/I69356397"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yuqing Chen","raw_affiliation_strings":["Department of Mechatronics and Robotics, School of Advanced Technology, Xi'an Jiaotong-Liverpool University, Suzhou, China"],"affiliations":[{"raw_affiliation_string":"Department of Mechatronics and Robotics, School of Advanced Technology, Xi'an Jiaotong-Liverpool University, Suzhou, China","institution_ids":["https://openalex.org/I69356397"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101967607","display_name":"Jianxun Li","orcid":"https://orcid.org/0000-0003-4205-8561"},"institutions":[{"id":"https://openalex.org/I183067930","display_name":"Shanghai Jiao Tong University","ror":"https://ror.org/0220qvk04","country_code":"CN","type":"education","lineage":["https://openalex.org/I183067930"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxun Li","raw_affiliation_strings":["Department of Automation, School of Electronic Information and Electric Engineering, Shanghai Jiao Tong University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"Department of Automation, School of Electronic Information and Electric Engineering, Shanghai Jiao Tong University, Shanghai, China","institution_ids":["https://openalex.org/I183067930"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5037191466"],"corresponding_institution_ids":["https://openalex.org/I183067930"],"apc_list":null,"apc_paid":null,"fwci":2.6095,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.86513003,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"21","issue":"4","first_page":"3057","last_page":"3066"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9909999966621399,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9909999966621399,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9333000183105469,"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/scara","display_name":"SCARA","score":0.9438062906265259},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7217123508453369},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.577138364315033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.502457857131958},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4932393431663513},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.44536250829696655},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41969534754753113},{"id":"https://openalex.org/keywords/type","display_name":"Type (biology)","score":0.41512852907180786},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.41309860348701477},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.33054065704345703},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21836385130882263}],"concepts":[{"id":"https://openalex.org/C158732272","wikidata":"https://www.wikidata.org/wiki/Q1484792","display_name":"SCARA","level":3,"score":0.9438062906265259},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7217123508453369},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.577138364315033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.502457857131958},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4932393431663513},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.44536250829696655},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41969534754753113},{"id":"https://openalex.org/C2777299769","wikidata":"https://www.wikidata.org/wiki/Q3707858","display_name":"Type (biology)","level":2,"score":0.41512852907180786},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.41309860348701477},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.33054065704345703},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21836385130882263},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tii.2024.3523540","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2024.3523540","pdf_url":null,"source":{"id":"https://openalex.org/S184777250","display_name":"IEEE Transactions on Industrial Informatics","issn_l":"1551-3203","issn":["1551-3203","1941-0050"],"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 Informatics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1157900015","display_name":null,"funder_award_id":"62403392","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G1787320756","display_name":null,"funder_award_id":"BK20220283","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G2323879031","display_name":null,"funder_award_id":"62103222","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6368830644","display_name":null,"funder_award_id":"61673265","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8533081567","display_name":null,"funder_award_id":"2020YFC1512203","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W1975208928","https://openalex.org/W1979369573","https://openalex.org/W2038951479","https://openalex.org/W2069285223","https://openalex.org/W2072884984","https://openalex.org/W2108582479","https://openalex.org/W2167916881","https://openalex.org/W2330723022","https://openalex.org/W2344590414","https://openalex.org/W2610305606","https://openalex.org/W2885344251","https://openalex.org/W2909896524","https://openalex.org/W3047906171","https://openalex.org/W3145205896","https://openalex.org/W3161130397","https://openalex.org/W3207305051","https://openalex.org/W4229706427","https://openalex.org/W4297095650","https://openalex.org/W4383066190","https://openalex.org/W4385338676","https://openalex.org/W4390534693","https://openalex.org/W4390719155","https://openalex.org/W4394627685","https://openalex.org/W6683604425"],"related_works":["https://openalex.org/W4249752797","https://openalex.org/W3001506670","https://openalex.org/W2004247173","https://openalex.org/W4255006717","https://openalex.org/W2083288501","https://openalex.org/W2347334410","https://openalex.org/W2973023815","https://openalex.org/W2792156965","https://openalex.org/W2591779012","https://openalex.org/W2895862012"],"abstract_inverted_index":{"Four":[0],"degree-of-freedom":[1],"selective":[2],"compliance":[3],"assembly":[4],"robot":[5],"arm":[6],"(SCARA)":[7],"robots":[8,31,154],"are":[9,49,155,168],"increasingly":[10],"used":[11],"in":[12,19],"industry":[13],"due":[14,70],"to":[15,38,71],"their":[16],"unique":[17],"advantages":[18],"speed":[20],"and":[21,34,68,133,146,152,162,173],"accuracy.":[22],"When":[23],"integrated":[24],"into":[25],"visual-guided":[26],"systems":[27],"with":[28,129],"cameras,":[29],"SCARA":[30,104,153],"require":[32],"hand-eye":[33],"robot-world":[35],"(HE&RW)":[36],"calibration":[37,47,77,102,138],"establish":[39],"the":[40,109,112,119,159,165],"system's":[41],"geometric":[42,131],"relationships.":[43],"The":[44],"conventional":[45,116],"HE&RW":[46,101,137],"methods":[48,64,78,117,148,167],"pose-based":[50,145],"or":[51,87],"point-based,":[52],"which":[53],"have":[54],"been":[55],"widely":[56],"validated":[57,169],"on":[58,100,149,170],"full":[59],"degree-of-freedomarticulated":[60],"robots.":[61,105],"However,":[62],"these":[63],"may":[65],"appear":[66],"singular":[67],"unusable":[69],"SCARA's":[72,113],"restricted":[73],"movement.":[74],"Besides,":[75],"some":[76],"designed":[79],"for":[80,103,111],"this":[81],"situation":[82],"still":[83],"impose":[84],"additional":[85],"requirements":[86],"lack":[88],"in-depth":[89],"singularity":[90,114],"analysis.":[91],"Inspired":[92],"by":[93],"this,":[94],"we":[95,107,126],"conduct":[96],"a":[97],"thorough":[98],"study":[99],"First,":[106],"analyze":[108],"reasons":[110],"of":[115,121,144,164],"from":[118],"perspective":[120],"nonlinear":[122],"least":[123],"squares.":[124],"Then,":[125],"redefine":[127],"parameters":[128],"clear":[130],"interpretation":[132],"propose":[134],"two":[135],"nonsingular":[136],"methods.":[139],"Note":[140],"that":[141],"comparative":[142],"studies":[143],"point-based":[147],"both":[150,171],"articulated":[151],"carried":[156],"out.":[157],"Finally,":[158],"effectiveness,":[160],"adaptability,":[161],"generality":[163],"proposed":[166],"synthetic":[172],"real":[174],"data.":[175]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}