{"id":"https://openalex.org/W3176104200","doi":"https://doi.org/10.3390/robotics10030083","title":"Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots","display_name":"Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3176104200","doi":"https://doi.org/10.3390/robotics10030083","mag":"3176104200"},"language":"en","primary_location":{"id":"doi:10.3390/robotics10030083","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030083","pdf_url":"https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071521276","display_name":"Andrea Raviola","orcid":"https://orcid.org/0000-0001-9773-6089"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Andrea Raviola","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025701285","display_name":"Roberto Guida","orcid":"https://orcid.org/0000-0002-7134-9635"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Roberto Guida","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080455106","display_name":"Andrea De Martin","orcid":"https://orcid.org/0000-0001-6714-631X"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea De Martin","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017749731","display_name":"Stefano Pastorelli","orcid":"https://orcid.org/0000-0001-7808-8776"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Pastorelli","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032314419","display_name":"Stefano Mauro","orcid":"https://orcid.org/0000-0001-8395-8297"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Mauro","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5046065083","display_name":"Massimo Sorli","orcid":"https://orcid.org/0000-0001-5163-9945"},"institutions":[{"id":"https://openalex.org/I177477856","display_name":"Politecnico di Torino","ror":"https://ror.org/00bgk9508","country_code":"IT","type":"education","lineage":["https://openalex.org/I177477856"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Massimo Sorli","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy","institution_ids":["https://openalex.org/I177477856"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5071521276"],"corresponding_institution_ids":["https://openalex.org/I177477856"],"apc_list":{"value":1600,"currency":"CHF","value_usd":1732},"apc_paid":{"value":1600,"currency":"CHF","value_usd":1732},"fwci":3.1821,"has_fulltext":true,"cited_by_count":33,"citation_normalized_percentile":{"value":0.9187752,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"10","issue":"3","first_page":"83","last_page":"83"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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":0.9987999796867371,"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":0.9958000183105469,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9945999979972839,"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/robot","display_name":"Robot","score":0.81899094581604},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5870879888534546},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.5775363445281982},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5755006074905396},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5300961136817932},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5086113214492798},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.48687902092933655},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.46900391578674316},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.42750921845436096},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.38561391830444336},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3640550374984741},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22570398449897766},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10841354727745056},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07184326648712158}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.81899094581604},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5870879888534546},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.5775363445281982},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5755006074905396},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5300961136817932},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5086113214492798},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.48687902092933655},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.46900391578674316},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.42750921845436096},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.38561391830444336},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3640550374984741},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22570398449897766},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10841354727745056},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07184326648712158},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","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/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.3390/robotics10030083","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030083","pdf_url":"https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:ee9e69b8bc684b6fa01d0919516bd1b8","is_oa":true,"landing_page_url":"https://doaj.org/article/ee9e69b8bc684b6fa01d0919516bd1b8","pdf_url":null,"source":{"id":"https://openalex.org/S112646816","display_name":"SHILAP Revista de lepidopterolog\u00eda","issn_l":"0300-5267","issn":["0300-5267","2340-4078"],"is_oa":true,"is_in_doaj":true,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics, Vol 10, Iss 3, p 83 (2021)","raw_type":"article"},{"id":"pmh:oai:mdpi.com:/2218-6581/10/3/83/","is_oa":true,"landing_page_url":"https://dx.doi.org/10.3390/robotics10030083","pdf_url":null,"source":{"id":"https://openalex.org/S4306400947","display_name":"MDPI (MDPI AG)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I4210097602","host_organization_name":"Multidisciplinary Digital Publishing Institute (Switzerland)","host_organization_lineage":["https://openalex.org/I4210097602"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Robotics; Volume 10; Issue 3; Pages: 83","raw_type":"Text"}],"best_oa_location":{"id":"doi:10.3390/robotics10030083","is_oa":true,"landing_page_url":"https://doi.org/10.3390/robotics10030083","pdf_url":"https://www.mdpi.com/2218-6581/10/3/83/pdf?version=1625447394","source":{"id":"https://openalex.org/S4210232487","display_name":"Robotics","issn_l":"2218-6581","issn":["2218-6581"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.4699999988079071,"display_name":"Industry, innovation and infrastructure","id":"https://metadata.un.org/sdg/9"}],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3176104200.pdf","grobid_xml":"https://content.openalex.org/works/W3176104200.grobid-xml"},"referenced_works_count":48,"referenced_works":["https://openalex.org/W591732527","https://openalex.org/W1508878338","https://openalex.org/W1971317756","https://openalex.org/W1973240993","https://openalex.org/W2051669066","https://openalex.org/W2052324963","https://openalex.org/W2077382971","https://openalex.org/W2078856056","https://openalex.org/W2079315820","https://openalex.org/W2102154372","https://openalex.org/W2132261933","https://openalex.org/W2141400158","https://openalex.org/W2141537501","https://openalex.org/W2151186798","https://openalex.org/W2153570199","https://openalex.org/W2159537373","https://openalex.org/W2163045813","https://openalex.org/W2169017219","https://openalex.org/W2169525100","https://openalex.org/W2171477296","https://openalex.org/W2187237044","https://openalex.org/W2216267563","https://openalex.org/W2626045845","https://openalex.org/W2767435396","https://openalex.org/W2895885020","https://openalex.org/W2896771047","https://openalex.org/W2907604107","https://openalex.org/W2909980903","https://openalex.org/W2945260145","https://openalex.org/W2964222556","https://openalex.org/W2995818800","https://openalex.org/W2996674677","https://openalex.org/W2998588901","https://openalex.org/W3046440806","https://openalex.org/W3095075504","https://openalex.org/W3108961310","https://openalex.org/W3111722828","https://openalex.org/W3126731237","https://openalex.org/W3131134799","https://openalex.org/W3132751860","https://openalex.org/W3136350505","https://openalex.org/W3161569736","https://openalex.org/W4210968171","https://openalex.org/W6683190373","https://openalex.org/W6687066665","https://openalex.org/W6757344105","https://openalex.org/W6787061142","https://openalex.org/W6927475645"],"related_works":["https://openalex.org/W4323768008","https://openalex.org/W1941703695","https://openalex.org/W3131574667","https://openalex.org/W4360995134","https://openalex.org/W4248382324","https://openalex.org/W3023605104","https://openalex.org/W2039473718","https://openalex.org/W2387529410","https://openalex.org/W2903025760","https://openalex.org/W4289147272"],"abstract_inverted_index":{"Dynamic":[0],"parameters":[1,158],"are":[2,16],"crucial":[3],"for":[4,51,131],"the":[5,32,35,44,53,56,66,71,75,85,95,107,122,132,135,147,152,155,163,170,185,203],"definition":[6],"of":[7,10,60,121,126,154,169,197],"high-fidelity":[8],"models":[9],"industrial":[11],"manipulators.":[12],"However,":[13],"since":[14],"they":[15],"often":[17],"partially":[18],"unknown,":[19],"a":[20,102,189,194,198],"mathematical":[21],"model":[22,172],"able":[23],"to":[24,43,65,101,112,160,173],"identify":[25],"them":[26],"is":[27,144,180],"discussed":[28],"and":[29,34,129,134],"validated":[30],"with":[31,63],"UR3":[33,133],"UR5":[36,136,199],"collaborative":[37],"robots":[38,114],"from":[39],"Universal":[40],"Robots.":[41],"According":[42],"acquired":[45],"experimental":[46],"data,":[47],"this":[48],"procedure":[49,187],"allows":[50],"reducing":[52],"error":[54],"on":[55,188,202],"estimated":[57],"joint":[58],"torques":[59],"about":[61,127],"90%":[62],"respect":[64],"one":[67],"obtained":[68,105],"using":[69],"only":[70],"information":[72],"provided":[73],"by":[74,183],"manufacturer.":[76],"The":[77,167],"present":[78],"research":[79],"also":[80],"highlights":[81],"how":[82,146],"changes":[83],"in":[84],"robot":[86,200],"operating":[87],"conditions":[88],"affect":[89],"its":[90],"dynamic":[91,157],"behavior.":[92],"In":[93],"particular,":[94],"identification":[96,186],"process":[97],"has":[98],"been":[99,140],"applied":[100],"data":[103,190],"set":[104,191],"commanding":[106],"same":[108],"trajectory":[109],"multiple":[110],"times":[111],"both":[113],"under":[115],"rising":[116],"joints":[117,165],"temperatures.":[118],"Average":[119],"reductions":[120],"viscous":[123],"friction":[124],"coefficients":[125],"20%":[128],"17%":[130],"robots,":[137],"respectively,":[138],"have":[139],"observed.":[141],"Moreover,":[142],"it":[143],"shown":[145],"manipulator":[148],"mounting":[149,178],"configuration":[150],"affects":[151],"number":[153],"base":[156],"necessary":[159],"properly":[161],"estimate":[162],"robots\u2019":[164],"torques.":[166],"ability":[168],"proposed":[171],"take":[174],"into":[175],"account":[176],"different":[177],"configurations":[179],"then":[181],"verified":[182],"performing":[184],"generated":[192],"through":[193],"digital":[195],"twin":[196],"mounted":[201],"ceiling.":[204]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":8},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":10}],"updated_date":"2026-03-31T07:56:22.981413","created_date":"2025-10-10T00:00:00"}
