{"id":"https://openalex.org/W4407506728","doi":"https://doi.org/10.1109/tii.2025.3534415","title":"The Dynamic Model of the UR10 Robot and Its ROS2 Integration","display_name":"The Dynamic Model of the UR10 Robot and Its ROS2 Integration","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407506728","doi":"https://doi.org/10.1109/tii.2025.3534415"},"language":"en","primary_location":{"id":"doi:10.1109/tii.2025.3534415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3534415","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2502.11940","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010287333","display_name":"Vincenzo Petrone","orcid":"https://orcid.org/0000-0003-4777-1761"},"institutions":[{"id":"https://openalex.org/I131729948","display_name":"University of Salerno","ror":"https://ror.org/0192m2k53","country_code":"IT","type":"education","lineage":["https://openalex.org/I131729948"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Vincenzo Petrone","raw_affiliation_strings":["Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-4777-1761","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy","institution_ids":["https://openalex.org/I131729948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012694169","display_name":"Enrico Ferrentino","orcid":"https://orcid.org/0000-0003-0768-8541"},"institutions":[{"id":"https://openalex.org/I131729948","display_name":"University of Salerno","ror":"https://ror.org/0192m2k53","country_code":"IT","type":"education","lineage":["https://openalex.org/I131729948"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Ferrentino","raw_affiliation_strings":["Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-0768-8541","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy","institution_ids":["https://openalex.org/I131729948"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085445088","display_name":"Pasquale Chiacchio","orcid":"https://orcid.org/0000-0003-3385-8866"},"institutions":[{"id":"https://openalex.org/I131729948","display_name":"University of Salerno","ror":"https://ror.org/0192m2k53","country_code":"IT","type":"education","lineage":["https://openalex.org/I131729948"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Pasquale Chiacchio","raw_affiliation_strings":["Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy"],"raw_orcid":"https://orcid.org/0000-0003-3385-8866","affiliations":[{"raw_affiliation_string":"Department of Information Engineering, Electrical Engineering and Applied Mathematics (DIEM), University of Salerno, Fisciano, Italy","institution_ids":["https://openalex.org/I131729948"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I131729948"],"apc_list":null,"apc_paid":null,"fwci":6.417,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.96547771,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"21","issue":"5","first_page":"3828","last_page":"3838"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8646000027656555,"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":0.8646000027656555,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.8623999953269958,"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"}},{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.8608999848365784,"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/computer-science","display_name":"Computer science","score":0.5639181137084961},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5273963809013367},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.42544952034950256},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2617877125740051}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5639181137084961},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5273963809013367},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.42544952034950256},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2617877125740051}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tii.2025.3534415","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tii.2025.3534415","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"},{"id":"pmh:oai:arXiv.org:2502.11940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.11940","pdf_url":"https://arxiv.org/pdf/2502.11940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2502.11940","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.11940","pdf_url":"https://arxiv.org/pdf/2502.11940","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1964511224","https://openalex.org/W1976091374","https://openalex.org/W2001524797","https://openalex.org/W2045410034","https://openalex.org/W2080017937","https://openalex.org/W2115055600","https://openalex.org/W2141400158","https://openalex.org/W2160240392","https://openalex.org/W2418241888","https://openalex.org/W2773771478","https://openalex.org/W2775416623","https://openalex.org/W2783332077","https://openalex.org/W2792855406","https://openalex.org/W2906146416","https://openalex.org/W2916642359","https://openalex.org/W2964222556","https://openalex.org/W3008128737","https://openalex.org/W3016434138","https://openalex.org/W3157568491","https://openalex.org/W4206673201","https://openalex.org/W4240172577","https://openalex.org/W4244912679","https://openalex.org/W4282842355","https://openalex.org/W4285739762","https://openalex.org/W4312222218","https://openalex.org/W4318953210","https://openalex.org/W4378422081","https://openalex.org/W4386066834","https://openalex.org/W4389403314","https://openalex.org/W6927020391"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"This":[0],"article":[1],"presents":[2],"the":[3,8,20,73,106,110],"full":[4],"dynamic":[5,22],"model":[6,62,93,108],"of":[7,100,122],"UR10":[9],"industrial":[10],"robot.":[11],"A":[12],"triple-stage":[13],"identification":[14],"approach":[15],"is":[16,94,132],"adopted":[17],"to":[18,42,52,57,84,105,119],"estimate":[19],"manipulator's":[21],"coefficients.":[23],"First,":[24],"linear":[25,32],"parameters":[26,38],"are":[27,39,50],"computed":[28],"using":[29],"a":[30,43,87,98,120],"standard":[31],"regression":[33],"algorithm.":[34],"Subsequently,":[35],"nonlinear":[36],"friction":[37],"estimated":[40,54,91],"according":[41],"sigmoidal":[44],"model.":[45],"Lastly,":[46],"motor":[47,127],"drive":[48],"gains":[49],"devised":[51],"map":[53],"joint":[55],"currents":[56],"torques.":[58],"The":[59,90,129],"overall":[60],"identified":[61],"can":[63,80],"be":[64,81],"used":[65],"for":[66,86,109],"both":[67],"control":[68],"and":[69,103,124],"planning":[70],"purposes,":[71],"as":[72],"accompanied":[74],"robot":[75,92],"operating":[76],"system":[77],"(ROS)2":[78],"software":[79,131],"easily":[82],"reconfigured":[83],"account":[85],"generic":[88],"payload.":[89],"experimentally":[95],"validated":[96],"against":[97],"set":[99],"exciting":[101],"trajectories":[102],"compared":[104],"state-of-the-art":[107],"same":[111],"manipulator,":[112],"achieving":[113],"higher":[114],"current":[115],"prediction":[116],"accuracy":[117],"(up":[118],"factor":[121],"4.43)":[123],"more":[125],"precise":[126],"gains.":[128],"related":[130],"available":[133],"at":[134],"<uri":[135],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[136],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">https://codeocean.com/capsule/8515919/tree/v2</uri>.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":5}],"updated_date":"2026-07-03T08:13:44.112507","created_date":"2025-10-10T00:00:00"}