{"id":"https://openalex.org/W2747468618","doi":"https://doi.org/10.1177/0959651817726477","title":"A typical dynamic parameter identification method of 6-degree-of-freedom industrial robot","display_name":"A typical dynamic parameter identification method of 6-degree-of-freedom industrial robot","publication_year":2017,"publication_date":"2017-08-19","ids":{"openalex":"https://openalex.org/W2747468618","doi":"https://doi.org/10.1177/0959651817726477","mag":"2747468618"},"language":"en","primary_location":{"id":"doi:10.1177/0959651817726477","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817726477","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","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/A5078172425","display_name":"Surong Jiang","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Surong Jiang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100670646","display_name":"Meng Jiang","orcid":"https://orcid.org/0000-0003-0509-8927"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Meng Jiang","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020995850","display_name":"Yanfei Cao","orcid":"https://orcid.org/0000-0001-6835-6837"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yanfei Cao","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056171992","display_name":"Daren Hua","orcid":null},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Daren Hua","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102983071","display_name":"Hongtao Wu","orcid":"https://orcid.org/0000-0002-3885-930X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongtao Wu","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044629325","display_name":"Yadong Ding","orcid":"https://orcid.org/0000-0001-6826-676X"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yadong Ding","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100662674","display_name":"Bai Chen","orcid":"https://orcid.org/0000-0001-8290-8626"},"institutions":[{"id":"https://openalex.org/I9842412","display_name":"Nanjing University of Aeronautics and Astronautics","ror":"https://ror.org/01scyh794","country_code":"CN","type":"education","lineage":["https://openalex.org/I9842412"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Bai Chen","raw_affiliation_strings":["College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Mechanical and Electrical Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China","institution_ids":["https://openalex.org/I9842412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5100662674"],"corresponding_institution_ids":["https://openalex.org/I9842412"],"apc_list":null,"apc_paid":null,"fwci":1.0202,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.77884682,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"231","issue":"9","first_page":"740","last_page":"752"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9979000091552734,"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":0.9979000091552734,"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":0.9972000122070312,"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/T13644","display_name":"Control Systems in Engineering","score":0.9907000064849854,"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/control-theory","display_name":"Control theory (sociology)","score":0.7205109596252441},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6781919002532959},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.5561234354972839},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5248924493789673},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.5149384140968323},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5033687949180603},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.4707045257091522},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.46370890736579895},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.45642587542533875},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4144449234008789},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36584335565567017},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2873186469078064},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.24744200706481934},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.08696755766868591},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08015957474708557},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.07957878708839417},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.055976927280426025}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7205109596252441},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6781919002532959},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.5561234354972839},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5248924493789673},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.5149384140968323},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5033687949180603},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.4707045257091522},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.46370890736579895},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.45642587542533875},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4144449234008789},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36584335565567017},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2873186469078064},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.24744200706481934},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.08696755766868591},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08015957474708557},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.07957878708839417},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.055976927280426025},{"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","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/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1177/0959651817726477","is_oa":false,"landing_page_url":"https://doi.org/10.1177/0959651817726477","pdf_url":null,"source":{"id":"https://openalex.org/S4210196624","display_name":"Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering","issn_l":"0959-6518","issn":["0959-6518","2041-3041"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.6499999761581421,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W1987640506","https://openalex.org/W1999109604","https://openalex.org/W2013205856","https://openalex.org/W2035587171","https://openalex.org/W2072242545","https://openalex.org/W2081345909","https://openalex.org/W2099961994","https://openalex.org/W2111336682","https://openalex.org/W2124137751","https://openalex.org/W2129275525","https://openalex.org/W2130041034","https://openalex.org/W2158121031","https://openalex.org/W2233870490","https://openalex.org/W2319415081","https://openalex.org/W2344981321","https://openalex.org/W2395392600","https://openalex.org/W2408150121","https://openalex.org/W2502494091","https://openalex.org/W2518283862","https://openalex.org/W2565402117","https://openalex.org/W2599330559","https://openalex.org/W2617515115"],"related_works":["https://openalex.org/W1979758163","https://openalex.org/W2294490033","https://openalex.org/W1985052846","https://openalex.org/W4386036352","https://openalex.org/W3213378276","https://openalex.org/W2077400647","https://openalex.org/W2490690736","https://openalex.org/W2009592572","https://openalex.org/W4312935962","https://openalex.org/W1988042083"],"abstract_inverted_index":{"Accurate":[0],"dynamic":[1,7,40,64],"parameters":[2,28,65,78],"are":[3,32],"required":[4],"in":[5,25,60,76],"the":[6,18,38,44,49,74,98],"model\u2013based":[8],"robot":[9,14],"motion":[10,27],"controller":[11],"designing.":[12],"Experiment-based":[13],"parameter":[15],"identification":[16,45,50,54,101],"is":[17],"only":[19],"way":[20],"to":[21,36],"obtain":[22],"them":[23],"effectively,":[24],"which":[26],"and":[29,34,47,58,68,82,93],"actuator":[30],"torques":[31],"measured":[33],"used":[35],"estimate":[37],"actual":[39],"model.":[41],"To":[42],"simplify":[43],"procedure":[46],"improve":[48],"precision,":[51],"a":[52],"step-by-step":[53],"method":[55,102],"was":[56],"proposed":[57],"investigated":[59],"this":[61],"article":[62],"with":[63,97],"of":[66,85],"wrist":[67,80],"elbow":[69,83],"joint":[70,81,84],"estimated":[71],"separately":[72],"considering":[73],"difference":[75],"inertia":[77],"between":[79],"typical":[86],"no-load":[87],"6-DOF":[88],"robots.":[89],"The":[90],"effectiveness,":[91],"simplification":[92],"high":[94],"precision":[95],"compared":[96],"traditional":[99],"one-step":[100],"were":[103],"demonstrated":[104],"through":[105],"comparative":[106],"experiments.":[107]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":4},{"year":2019,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}