{"id":"https://openalex.org/W4312394562","doi":"https://doi.org/10.1109/tr.2022.3215673","title":"Uncertainty Inverse Analysis of Positioning Accuracy for Error Sources Identification of Industrial Robots","display_name":"Uncertainty Inverse Analysis of Positioning Accuracy for Error Sources Identification of Industrial Robots","publication_year":2022,"publication_date":"2022-11-04","ids":{"openalex":"https://openalex.org/W4312394562","doi":"https://doi.org/10.1109/tr.2022.3215673"},"language":"en","primary_location":{"id":"doi:10.1109/tr.2022.3215673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tr.2022.3215673","pdf_url":null,"source":{"id":"https://openalex.org/S87725633","display_name":"IEEE Transactions on Reliability","issn_l":"0018-9529","issn":["0018-9529","1558-1721"],"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 Reliability","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/A5061390975","display_name":"Jinhe Zhang","orcid":"https://orcid.org/0000-0001-5770-2976"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jinhe Zhang","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0001-5770-2976","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101425805","display_name":"Fei Ding","orcid":"https://orcid.org/0000-0002-5311-2933"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Ding","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":"https://orcid.org/0000-0002-5311-2933","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079365534","display_name":"Jie Liu","orcid":"https://orcid.org/0000-0003-3953-0693"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jie Liu","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102923697","display_name":"Lixiong Cao","orcid":"https://orcid.org/0009-0001-0337-6113"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lixiong Cao","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100456986","display_name":"Kang Li","orcid":"https://orcid.org/0000-0002-8136-9816"},"institutions":[{"id":"https://openalex.org/I16609230","display_name":"Hunan University","ror":"https://ror.org/05htk5m33","country_code":"CN","type":"education","lineage":["https://openalex.org/I16609230"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Li","raw_affiliation_strings":["State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha, China","institution_ids":["https://openalex.org/I16609230"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5061390975"],"corresponding_institution_ids":["https://openalex.org/I16609230"],"apc_list":null,"apc_paid":null,"fwci":2.1885,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.87150117,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"72","issue":"3","first_page":"1123","last_page":"1133"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9983000159263611,"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"}},"topics":[{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9983000159263611,"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/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/T11749","display_name":"Iterative Learning Control Systems","score":0.995199978351593,"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/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.6265513896942139},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.5860176086425781},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5095510482788086},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5034806132316589},{"id":"https://openalex.org/keywords/propagation-of-uncertainty","display_name":"Propagation of uncertainty","score":0.49075064063072205},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4757394790649414},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4458343982696533},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4326314330101013},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3470524549484253},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.29886114597320557},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1442880928516388}],"concepts":[{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.6265513896942139},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.5860176086425781},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5095510482788086},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5034806132316589},{"id":"https://openalex.org/C123614077","wikidata":"https://www.wikidata.org/wiki/Q1364905","display_name":"Propagation of uncertainty","level":2,"score":0.49075064063072205},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4757394790649414},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4458343982696533},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4326314330101013},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3470524549484253},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.29886114597320557},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1442880928516388},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tr.2022.3215673","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tr.2022.3215673","pdf_url":null,"source":{"id":"https://openalex.org/S87725633","display_name":"IEEE Transactions on Reliability","issn_l":"0018-9529","issn":["0018-9529","1558-1721"],"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 Reliability","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3119218294","display_name":null,"funder_award_id":"51805155","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5490968462","display_name":null,"funder_award_id":"51975199","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":42,"referenced_works":["https://openalex.org/W312959323","https://openalex.org/W999207820","https://openalex.org/W2018304958","https://openalex.org/W2024352198","https://openalex.org/W2030318248","https://openalex.org/W2033504600","https://openalex.org/W2044500908","https://openalex.org/W2061871196","https://openalex.org/W2115197986","https://openalex.org/W2148387270","https://openalex.org/W2531620122","https://openalex.org/W2592725339","https://openalex.org/W2744672791","https://openalex.org/W2750386548","https://openalex.org/W2770202390","https://openalex.org/W2781105378","https://openalex.org/W2796549311","https://openalex.org/W2907944627","https://openalex.org/W2908758894","https://openalex.org/W2943647433","https://openalex.org/W2959352224","https://openalex.org/W2961913909","https://openalex.org/W2964403364","https://openalex.org/W2989686384","https://openalex.org/W2995419127","https://openalex.org/W3008353176","https://openalex.org/W3014089942","https://openalex.org/W3034323821","https://openalex.org/W3034708772","https://openalex.org/W3044937396","https://openalex.org/W3048050203","https://openalex.org/W3083796308","https://openalex.org/W3091939723","https://openalex.org/W3108449827","https://openalex.org/W3134579018","https://openalex.org/W3143108681","https://openalex.org/W3154252712","https://openalex.org/W3158514449","https://openalex.org/W3159566004","https://openalex.org/W3198127959","https://openalex.org/W4254193156","https://openalex.org/W4285156299"],"related_works":["https://openalex.org/W2377937346","https://openalex.org/W2077909046","https://openalex.org/W1797940506","https://openalex.org/W2065664861","https://openalex.org/W2331917905","https://openalex.org/W4385273312","https://openalex.org/W2350269050","https://openalex.org/W2032268867","https://openalex.org/W2080539298","https://openalex.org/W1644797008"],"abstract_inverted_index":{"Uncertainties":[0],"widely":[1],"exist":[2],"in":[3],"modeling":[4,73],"parameters":[5,51],"of":[6,30,40,48,72,129,147,171],"industrial":[7],"robots":[8,157],"due":[9],"to":[10,19,45,63,101,121,142],"wear":[11],"during":[12],"service.":[13],"These":[14],"uncertainties":[15,170],"are":[16],"too":[17],"small":[18],"be":[20],"directly":[21],"measured":[22],"and":[23,86,133],"may":[24],"severely":[25],"affect":[26],"the":[27,53,65,69,75,127,144,160,175],"positioning":[28,41],"accuracy":[29,42],"end-effector":[31,87],"through":[32,105],"multi-stage":[33],"propagation.":[34],"An":[35],"uncertainty":[36,47,71],"inverse":[37,76],"analysis":[38,77],"method":[39,60,139,162],"is":[43,61,90,99,119,140],"proposed":[44,161],"identify":[46,169],"typical":[49],"structural":[50],"with":[52,126,163],"selected":[54],"optimal":[55,123],"position":[56,88],"information.":[57],"The":[58,96],"Denavit\u2013Hartenberg":[59],"employed":[62,141],"establish":[64],"kinematic":[66],"model.":[67],"For":[68],"probability":[70],"parameters,":[74],"model,":[78],"which":[79],"reflects":[80],"propagation":[81],"mapping":[82],"between":[83],"uncertain":[84],"variables":[85],"response":[89],"obtained":[91],"by":[92],"first-order":[93],"second-moment":[94],"method.":[95],"partial-derivative":[97],"information":[98],"used":[100],"improve":[102],"calculation":[103],"efficiency":[104,166],"removing":[106],"low-contributing":[107],"parameters.":[108],"To":[109],"further":[110],"reduce":[111],"measurement":[112,180],"noise":[113],"interference,":[114],"orthogonal":[115],"matching":[116],"pursuit":[117],"strategy":[118],"presented":[120],"search":[122],"sensor":[124],"placement":[125],"objectives":[128],"maximum":[130],"coefficient":[131],"modulus":[132],"minimum":[134],"correlation,":[135],"then":[136],"pseudoinverse":[137],"matrix":[138],"obtain":[143],"exact":[145],"solution":[146,165],"identification":[148],"equation.":[149],"Finally,":[150],"numerical":[151],"simulation":[152],"results":[153],"for":[154],"6":[155],"degrees-of-freedom":[156],"indicate":[158],"that":[159],"improved":[164],"can":[167],"accurately":[168],"joint":[172],"angles":[173],"within":[174],"error":[176],"5%":[177],"under":[178],"large":[179],"errors.":[181]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}