{"id":"https://openalex.org/W2023720286","doi":"https://doi.org/10.1145/2506095.2506121","title":"Identification of Denavit-Hartenberg Parameters of an Industrial Robot","display_name":"Identification of Denavit-Hartenberg Parameters of an Industrial Robot","publication_year":2013,"publication_date":"2013-07-04","ids":{"openalex":"https://openalex.org/W2023720286","doi":"https://doi.org/10.1145/2506095.2506121","mag":"2023720286"},"language":"en","primary_location":{"id":"doi:10.1145/2506095.2506121","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-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/A5086990384","display_name":"Abdullah Aamir Hayat","orcid":"https://orcid.org/0000-0001-6141-4600"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Abdullah Aamir Hayat","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057247207","display_name":"Rajeevlochana G. Chittawadigi","orcid":"https://orcid.org/0000-0002-0918-6716"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Rajeevlochana G. Chittawadigi","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022246915","display_name":"Arun Dayal Udai","orcid":"https://orcid.org/0000-0001-9629-1110"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Arun Dayal Udai","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037739037","display_name":"Subir Kumar Saha","orcid":"https://orcid.org/0000-0002-3681-8061"},"institutions":[{"id":"https://openalex.org/I68891433","display_name":"Indian Institute of Technology Delhi","ror":"https://ror.org/049tgcd06","country_code":"IN","type":"education","lineage":["https://openalex.org/I68891433"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Subir K. Saha","raw_affiliation_strings":["Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Indian Institute of Technology Delhi, New Delhi, India","institution_ids":["https://openalex.org/I68891433"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I68891433"],"apc_list":null,"apc_paid":null,"fwci":3.0549,"has_fulltext":false,"cited_by_count":64,"citation_normalized_percentile":{"value":0.91331098,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9932000041007996,"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":0.9932000041007996,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9768000245094299,"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/T14257","display_name":"Advanced Measurement and Detection Methods","score":0.9732000231742859,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/robot","display_name":"Robot","score":0.8154306411743164},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.7586104869842529},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7013309001922607},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5778027176856995},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5358563661575317},{"id":"https://openalex.org/keywords/industrial-robot","display_name":"Industrial robot","score":0.5165959596633911},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.49842071533203125},{"id":"https://openalex.org/keywords/bounding-overwatch","display_name":"Bounding overwatch","score":0.49522915482521057},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.48136430978775024},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4568418562412262},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4547942280769348},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3512839078903198}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8154306411743164},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.7586104869842529},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7013309001922607},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5778027176856995},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5358563661575317},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.5165959596633911},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.49842071533203125},{"id":"https://openalex.org/C63584917","wikidata":"https://www.wikidata.org/wiki/Q333286","display_name":"Bounding overwatch","level":2,"score":0.49522915482521057},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.48136430978775024},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4568418562412262},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4547942280769348},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3512839078903198},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1145/2506095.2506121","is_oa":false,"landing_page_url":"https://doi.org/10.1145/2506095.2506121","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of Conference on Advances In Robotics","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320334966","display_name":"Bhabha Atomic Research Centre","ror":"https://ror.org/05w6wfp17"},{"id":"https://openalex.org/F4320335179","display_name":"Board of Research in Nuclear Sciences","ror":"https://ror.org/02m388s04"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W105026832","https://openalex.org/W1502732598","https://openalex.org/W1633529096","https://openalex.org/W1969140852","https://openalex.org/W2038475164","https://openalex.org/W2107475972","https://openalex.org/W2114866967","https://openalex.org/W2140781725","https://openalex.org/W2148834618","https://openalex.org/W2149331789","https://openalex.org/W2166637439","https://openalex.org/W2246023205","https://openalex.org/W2266380092","https://openalex.org/W2313232429","https://openalex.org/W2319895531","https://openalex.org/W2590831466","https://openalex.org/W3195769203","https://openalex.org/W4300785618","https://openalex.org/W4376551357","https://openalex.org/W6677118264"],"related_works":["https://openalex.org/W1964490400","https://openalex.org/W1968518598","https://openalex.org/W229301543","https://openalex.org/W3117511302","https://openalex.org/W2914399220","https://openalex.org/W2048576502","https://openalex.org/W2158938020","https://openalex.org/W2973183922","https://openalex.org/W2995019253","https://openalex.org/W3135439126"],"abstract_inverted_index":{"Kinematic":[0],"identification":[1,72],"of":[2,11,20,30,73,81,90,107,146,153],"a":[3,21,31,131],"serial":[4,32],"robot":[5,22,76,109,119,138],"has":[6],"been":[7],"an":[8,74],"active":[9],"field":[10],"research":[12],"as":[13],"the":[14,18,54,79,82,85,108,112,118,122,126,137,144],"need":[15,59],"for":[16,71,125],"improving":[17],"accuracy":[19],"is":[23,140],"increasing":[24],"with":[25,117],"time.":[26],"Denavit-Hartenberg":[27],"(DH)":[28],"parameters":[29,51,106],"robot,":[33],"which":[34,149],"are":[35,42,52],"typically":[36],"used":[37,69],"to":[38,60,88,136],"represent":[39],"its":[40,46],"architecture,":[41],"usually":[43],"provided":[44],"by":[45,77],"manufacturer.":[47],"At":[48],"times":[49],"these":[50],"not":[53],"same":[55],"and":[56],"hence":[57],"they":[58],"be":[61],"identified.":[62],"An":[63],"analytical":[64],"method":[65],"proposed":[66,113],"elsewhere":[67],"was":[68],"here":[70],"industrial":[75],"noting":[78],"values":[80],"point":[83],"on":[84],"end-effector":[86],"due":[87],"rotation":[89],"each":[91],"joint,":[92],"locking":[93],"all":[94],"other":[95],"joints,":[96],"were":[97],"found":[98],"out":[99],"using":[100,111],"singular":[101],"value":[102],"decomposition.":[103],"The":[104],"DH":[105],"determined":[110],"methodology,":[114],"matched":[115],"satisfactorily":[116],"specifications.":[120],"Also,":[121],"bounding":[123],"volume":[124,134],"joint":[127],"ranges":[128],"infers":[129],"that":[130],"smaller":[132,151],"measurement":[133,147],"relative":[135],"workspace":[139],"required":[141],"thus":[142],"facilitating":[143],"use":[145],"devices":[148],"have":[150],"range":[152],"measurement.":[154]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":7},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}