{"id":"https://openalex.org/W2050013274","doi":"https://doi.org/10.1109/tim.2012.2214934","title":"Multisensor Contour Following With Vision, Force, and Acceleration Sensors for an Industrial Robot","display_name":"Multisensor Contour Following With Vision, Force, and Acceleration Sensors for an Industrial Robot","publication_year":2012,"publication_date":"2012-09-17","ids":{"openalex":"https://openalex.org/W2050013274","doi":"https://doi.org/10.1109/tim.2012.2214934","mag":"2050013274"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2012.2214934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2012.2214934","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5112745967","display_name":"Heiko Koch","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Heiko Koch","raw_affiliation_strings":["Chemnitz Technical University, Chemnitz, Germany","Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Chemnitz Technical University, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066488470","display_name":"Alexander K\u00f6nig","orcid":"https://orcid.org/0000-0002-8540-2396"},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexander Konig","raw_affiliation_strings":["Chemnitz Technical University, Chemnitz, Germany","Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Chemnitz Technical University, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018322294","display_name":"Alexandra Weigl-Seitz","orcid":null},"institutions":[{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]},{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Alexandra Weigl-Seitz","raw_affiliation_strings":["Chemnitz Technical University, Chemnitz, Germany","Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Chemnitz Technical University, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074902728","display_name":"Karl Kleinmann","orcid":null},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]},{"id":"https://openalex.org/I31512782","display_name":"Technical University of Darmstadt","ror":"https://ror.org/05n911h24","country_code":"DE","type":"education","lineage":["https://openalex.org/I31512782"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Karl Kleinmann","raw_affiliation_strings":["Chemnitz Technical University, Chemnitz, Germany","Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany"],"affiliations":[{"raw_affiliation_string":"Chemnitz Technical University, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Univ. of Appl. Sci. Darmstadt, Darmstadt, Germany","institution_ids":["https://openalex.org/I31512782"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5050525763","display_name":"Jozef Such\u00fd","orcid":null},"institutions":[{"id":"https://openalex.org/I2610724","display_name":"Chemnitz University of Technology","ror":"https://ror.org/00a208s56","country_code":"DE","type":"education","lineage":["https://openalex.org/I2610724"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jozef Suchy","raw_affiliation_strings":["Chemnitz Technical University, Chemnitz, Germany","Chemnitz Tech. Univ., Chemnitz, Germany"],"affiliations":[{"raw_affiliation_string":"Chemnitz Technical University, Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]},{"raw_affiliation_string":"Chemnitz Tech. Univ., Chemnitz, Germany","institution_ids":["https://openalex.org/I2610724"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5112745967"],"corresponding_institution_ids":["https://openalex.org/I2610724","https://openalex.org/I31512782"],"apc_list":null,"apc_paid":null,"fwci":6.2464,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.96145365,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"62","issue":"2","first_page":"268","last_page":"280"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9991000294685364,"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":0.9991000294685364,"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":0.996399998664856,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9934999942779541,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.7482511401176453},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6588019728660583},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.6326926946640015},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5971832871437073},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5967119932174683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5736030340194702},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.53965163230896},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.47230958938598633},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.45605039596557617},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.44165655970573425},{"id":"https://openalex.org/keywords/fictitious-force","display_name":"Fictitious force","score":0.44158506393432617},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41699904203414917},{"id":"https://openalex.org/keywords/machine-vision","display_name":"Machine vision","score":0.410248339176178},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3881203532218933},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.38768309354782104},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.16060000658035278},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07594487071037292}],"concepts":[{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.7482511401176453},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6588019728660583},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.6326926946640015},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5971832871437073},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5967119932174683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5736030340194702},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.53965163230896},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.47230958938598633},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.45605039596557617},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.44165655970573425},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.44158506393432617},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41699904203414917},{"id":"https://openalex.org/C5339829","wikidata":"https://www.wikidata.org/wiki/Q1425977","display_name":"Machine vision","level":2,"score":0.410248339176178},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3881203532218933},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.38768309354782104},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.16060000658035278},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07594487071037292},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2012.2214934","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2012.2214934","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1847980491","https://openalex.org/W1929524336","https://openalex.org/W1941390610","https://openalex.org/W1946427858","https://openalex.org/W1965324089","https://openalex.org/W1973783050","https://openalex.org/W1977605776","https://openalex.org/W2018446707","https://openalex.org/W2021964038","https://openalex.org/W2092812013","https://openalex.org/W2101947798","https://openalex.org/W2105660272","https://openalex.org/W2107949070","https://openalex.org/W2110434003","https://openalex.org/W2112844012","https://openalex.org/W2113265921","https://openalex.org/W2114785422","https://openalex.org/W2119507863","https://openalex.org/W2131425059","https://openalex.org/W2135740627","https://openalex.org/W2135780080","https://openalex.org/W2136970946","https://openalex.org/W2139493727","https://openalex.org/W2144433647","https://openalex.org/W2162330537","https://openalex.org/W2165356344","https://openalex.org/W2219697968","https://openalex.org/W6638781303","https://openalex.org/W6640676109","https://openalex.org/W6680460080"],"related_works":["https://openalex.org/W2157702526","https://openalex.org/W2794567389","https://openalex.org/W2570672926","https://openalex.org/W2973183922","https://openalex.org/W2995019253","https://openalex.org/W3174748874","https://openalex.org/W2571147915","https://openalex.org/W4378191988","https://openalex.org/W4386487217","https://openalex.org/W3210882399"],"abstract_inverted_index":{"In":[0,75],"robotic":[1,51],"contour-following":[2],"tasks,":[3],"such":[4],"as":[5],"sewing":[6],"or":[7,40],"cutting,":[8],"an":[9,80,186],"industrial":[10],"robot":[11,24,93,145],"guides":[12],"a":[13,19,31,50,166],"tool":[14],"along":[15,94],"the":[16,23,43,46,55,70,92,95,101,111,118,121,144,147,156,171],"contour":[17,85,198],"of":[18,49,57,72,120,140,165,170],"workpiece.":[20],"Manually":[21],"teaching":[22],"is":[25,34,124,192],"time":[26],"consuming":[27],"and":[28,131,137,146,182],"results":[29,154],"in":[30,42,185],"system":[32,67,191],"that":[33,127,196],"unable":[35],"to":[36,38,109,151,159],"react":[37],"uncertainties":[39],"changes":[41],"environment.":[44],"Because":[45],"cost":[47],"effectiveness":[48],"solution":[52],"depends":[53],"on":[54,200],"amount":[56],"human":[58],"intervention,":[59],"particularly":[60],"small":[61],"series":[62],"production":[63],"benefits":[64],"from":[65,155],"greater":[66],"autonomy":[68],"through":[69],"integration":[71],"sensor":[73,90,158],"systems.":[74],"this":[76],"paper,":[77],"we":[78],"present":[79],"integrated":[81],"approach":[82],"for":[83,114,161],"multisensor":[84],"following.":[86],"A":[87],"look-ahead":[88],"vision":[89,132,157],"steers":[91],"workpiece":[96],"while":[97],"force-feedback":[98],"control":[99,133,188],"maintains":[100],"desired":[102],"contact":[103,141],"force.":[104],"Acceleration":[105],"sensors":[106,123,184],"are":[107,135,149,173],"used":[108,150],"compensate":[110,160],"force":[112,130,181],"measurements":[113,139],"inertial":[115],"forces,":[116],"so":[117],"arrangement":[119],"acceleration":[122,183],"investigated.":[125],"Couplings":[126],"arise":[128],"between":[129,143],"systems":[134],"estimated,":[136],"online":[138,176],"forces":[142],"environment":[148,172],"adjust":[152],"measurement":[153],"environmental":[162],"deformations.":[163],"Parameters":[164],"second-order":[167],"linear":[168],"model":[169],"estimated":[174],"by":[175,194],"identification.":[177],"The":[178,190],"identification":[179],"combines":[180],"observer-based":[187],"scheme.":[189],"validated":[193],"experiments":[195],"involve":[197],"following":[199],"compliant":[201],"objects.":[202]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":4},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":5}],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2025-10-10T00:00:00"}
