{"id":"https://openalex.org/W4402765167","doi":"https://doi.org/10.3390/s24196171","title":"Robot Calibration Sampling Data Optimization Method Based on Improved Robot Observability Metrics and Binary Simulated Annealing Algorithm","display_name":"Robot Calibration Sampling Data Optimization Method Based on Improved Robot Observability Metrics and Binary Simulated Annealing Algorithm","publication_year":2024,"publication_date":"2024-09-24","ids":{"openalex":"https://openalex.org/W4402765167","doi":"https://doi.org/10.3390/s24196171","pmid":"https://pubmed.ncbi.nlm.nih.gov/39409212"},"language":"en","primary_location":{"id":"doi:10.3390/s24196171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196171","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6171/pdf?version=1727174929","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/1424-8220/24/19/6171/pdf?version=1727174929","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5057055527","display_name":"Huakun Jia","orcid":"https://orcid.org/0000-0002-0909-5507"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Huakun Jia","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":"https://orcid.org/0000-0002-0909-5507","affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111338061","display_name":"Hanbo Zeng","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hanbo Zeng","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078189980","display_name":"Jiyan Zhang","orcid":"https://orcid.org/0000-0002-8332-0047"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiyan Zhang","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100755823","display_name":"Xiangyang Wang","orcid":"https://orcid.org/0000-0002-8319-5661"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiangyang Wang","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090307620","display_name":"Yang Lu","orcid":"https://orcid.org/0000-0001-7899-8606"},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yang Lu","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5071627159","display_name":"Liandong Yu","orcid":null},"institutions":[{"id":"https://openalex.org/I4210162190","display_name":"China University of Petroleum, East China","ror":"https://ror.org/05gbn2817","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210162190"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Liandong Yu","raw_affiliation_strings":["College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Control Science and Engineering, China University of Petroleum (East China), Qingdao 266580, China","institution_ids":["https://openalex.org/I4210162190"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5071627159"],"corresponding_institution_ids":["https://openalex.org/I4210162190"],"apc_list":{"value":2400,"currency":"CHF","value_usd":2598},"apc_paid":{"value":2400,"currency":"CHF","value_usd":2598},"fwci":0.6185,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.68976069,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"24","issue":"19","first_page":"6171","last_page":"6171"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.994700014591217,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9944000244140625,"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/observability","display_name":"Observability","score":0.751349151134491},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.730521559715271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6961483955383301},{"id":"https://openalex.org/keywords/simulated-annealing","display_name":"Simulated annealing","score":0.6267646551132202},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.5672067999839783},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49244198203086853},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.47072234749794006},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.40796440839767456},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4035053551197052},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3613685071468353},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.3418264389038086},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.26703113317489624},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2639358937740326}],"concepts":[{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.751349151134491},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.730521559715271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6961483955383301},{"id":"https://openalex.org/C126980161","wikidata":"https://www.wikidata.org/wiki/Q863783","display_name":"Simulated annealing","level":2,"score":0.6267646551132202},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.5672067999839783},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49244198203086853},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.47072234749794006},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.40796440839767456},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4035053551197052},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3613685071468353},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3418264389038086},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.26703113317489624},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2639358937740326},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3390/s24196171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196171","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6171/pdf?version=1727174929","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},{"id":"pmid:39409212","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39409212","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Sensors (Basel, Switzerland)","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11478901","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11478901","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11478901/pdf/sensors-24-06171.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"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":"Sensors (Basel)","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:282b3bfda8b64eef98411605bfef7d61","is_oa":true,"landing_page_url":"https://doaj.org/article/282b3bfda8b64eef98411605bfef7d61","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Sensors, Vol 24, Iss 19, p 6171 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/s24196171","is_oa":true,"landing_page_url":"https://doi.org/10.3390/s24196171","pdf_url":"https://www.mdpi.com/1424-8220/24/19/6171/pdf?version=1727174929","source":{"id":"https://openalex.org/S101949793","display_name":"Sensors","issn_l":"1424-8220","issn":["1424-8220"],"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":"Sensors","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1602129358","display_name":null,"funder_award_id":"tsqnz20221124","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2311085726","display_name":null,"funder_award_id":"51927811","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G312585394","display_name":null,"funder_award_id":"tstp20230614","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3469435873","display_name":null,"funder_award_id":"2022YFF0705700","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G3545626101","display_name":null,"funder_award_id":"tstp20230614","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4565531890","display_name":null,"funder_award_id":"2022YFF0705700","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G5064100828","display_name":null,"funder_award_id":"51927811","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G6259247475","display_name":null,"funder_award_id":"2022QNRC001","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G8198936968","display_name":null,"funder_award_id":"tsqnz20221124","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G8863457553","display_name":null,"funder_award_id":"2022QNRC001","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4402765167.pdf"},"referenced_works_count":28,"referenced_works":["https://openalex.org/W1979504223","https://openalex.org/W2031286453","https://openalex.org/W2095088294","https://openalex.org/W2103132415","https://openalex.org/W2108197520","https://openalex.org/W2108343861","https://openalex.org/W2119139471","https://openalex.org/W2128963970","https://openalex.org/W2141379667","https://openalex.org/W2153326975","https://openalex.org/W2246023205","https://openalex.org/W2756686745","https://openalex.org/W2804948028","https://openalex.org/W2942293122","https://openalex.org/W3022567978","https://openalex.org/W3026996107","https://openalex.org/W3027442421","https://openalex.org/W3036312524","https://openalex.org/W3087579330","https://openalex.org/W3110565446","https://openalex.org/W3164173388","https://openalex.org/W3173300924","https://openalex.org/W3216202865","https://openalex.org/W4212798104","https://openalex.org/W4225147778","https://openalex.org/W4252825065","https://openalex.org/W4383108770","https://openalex.org/W4392418555"],"related_works":["https://openalex.org/W2004247173","https://openalex.org/W2108197520","https://openalex.org/W2139310805","https://openalex.org/W4205370188","https://openalex.org/W2033943413","https://openalex.org/W2157600580","https://openalex.org/W2320707797","https://openalex.org/W2158374453","https://openalex.org/W2076290979","https://openalex.org/W2771857660"],"abstract_inverted_index":{"As":[0],"the":[1,14,29,63,78,82,88,94,120,130,137,153,159],"societal":[2],"demand":[3],"for":[4],"precision":[5],"in":[6,27,103],"industrial":[7],"robot":[8,36,45,58,115,160],"operations":[9],"increases,":[10],"calibration":[11,30,37,106,133,162],"can":[12,163],"enhance":[13],"end-effector":[15,155],"positioning":[16,156],"accuracy":[17],"of":[18,65,132,158],"robots.":[19],"Sampling":[20],"data":[21],"optimization":[22,40],"plays":[23],"an":[24,104],"important":[25],"role":[26],"improving":[28],"effect.":[31],"In":[32],"this":[33,173],"study,":[34],"a":[35,49,57,70,144],"sampling":[38,134],"point":[39],"method":[41],"based":[42,61,108],"on":[43,62,109],"improved":[44,114],"observability":[46,116],"metrics":[47],"and":[48,69,93],"Binary":[50,121],"Simulated":[51,122],"Annealing":[52,123],"Algorithm":[53,124],"is":[54,74,100,126],"proposed.":[55],"Initially,":[56],"kinematic":[59],"model":[60,68,73,107],"Product":[64],"Exponentials":[66],"(POE)":[67],"generalized":[71],"error":[72,105,157],"established.":[75],"By":[76],"utilizing":[77],"least":[79,146],"squares":[80,147],"method,":[81],"ideal":[83],"pose":[84],"transformation":[85],"relationship":[86],"between":[87],"robot's":[89,138],"base":[90],"coordinate":[91,98],"system":[92,99],"laser":[95],"tracker":[96],"measurement":[97],"derived,":[101],"resulting":[102],"spatial":[110],"single":[111],"points.":[112],"An":[113],"metric":[117],"combined":[118],"with":[119],"(BSAA)":[125],"introduced":[127],"to":[128,169],"optimize":[129],"selection":[131],"data.":[135],"Finally,":[136],"parameter":[139],"errors":[140],"are":[141],"obtained":[142],"using":[143,172],"nonlinear":[145],"method.":[148,174],"Experimental":[149],"results":[150],"demonstrate":[151],"that":[152],"average":[154],"after":[161],"be":[164],"reduced":[165],"from":[166],"0.356":[167],"mm":[168,171],"0.254":[170]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}