{"id":"https://openalex.org/W4234543228","doi":"https://doi.org/10.1109/robot.1989.100074","title":"Optimal design of robot accuracy compensators","display_name":"Optimal design of robot accuracy compensators","publication_year":2003,"publication_date":"2003-01-07","ids":{"openalex":"https://openalex.org/W4234543228","doi":"https://doi.org/10.1109/robot.1989.100074"},"language":"en","primary_location":{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false},"type":"article","type_crossref":"proceedings-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/A5026298167","display_name":"Hanqi Zhuang","orcid":"https://orcid.org/0000-0002-6739-111X"},"institutions":[{"id":"https://openalex.org/I63772739","display_name":"Florida Atlantic University","ror":"https://ror.org/05p8w6387","country_code":"US","type":"education","lineage":["https://openalex.org/I63772739"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"H. Zhuang","raw_affiliation_strings":["Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA","institution_ids":["https://openalex.org/I63772739"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036654074","display_name":"Fumio Hamano","orcid":null},"institutions":[{"id":"https://openalex.org/I63772739","display_name":"Florida Atlantic University","ror":"https://ror.org/05p8w6387","country_code":"US","type":"education","lineage":["https://openalex.org/I63772739"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"F. Hamano","raw_affiliation_strings":["Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA","institution_ids":["https://openalex.org/I63772739"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059259271","display_name":"Zvi S. Roth","orcid":null},"institutions":[{"id":"https://openalex.org/I63772739","display_name":"Florida Atlantic University","ror":"https://ror.org/05p8w6387","country_code":"US","type":"education","lineage":["https://openalex.org/I63772739"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Z.S. Roth","raw_affiliation_strings":["Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA"],"affiliations":[{"raw_affiliation_string":"Robotics Center, College of Engineering, Florida Atlantic University, Boca Raton, FL, USA","institution_ids":["https://openalex.org/I63772739"]}]}],"institution_assertions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":true,"fulltext_origin":"ngrams","cited_by_count":3,"citation_normalized_percentile":{"value":0.0,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":70,"max":72},"biblio":{"volume":null,"issue":null,"first_page":"751","last_page":"756"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Kinematic and Dynamic Analysis of Robot Manipulators","score":0.9999,"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":"Kinematic and Dynamic Analysis of Robot Manipulators","score":0.9999,"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":"Dimensional Metrology and Error Compensation","score":0.9982,"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 in Engineering Practice","score":0.9961,"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/kinematic-analysis","display_name":"Kinematic Analysis","score":0.562684},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.535001},{"id":"https://openalex.org/keywords/dynamic-modeling","display_name":"Dynamic Modeling","score":0.519362},{"id":"https://openalex.org/keywords/error-compensation","display_name":"Error Compensation","score":0.515055},{"id":"https://openalex.org/keywords/thermal-error-modeling","display_name":"Thermal Error Modeling","score":0.508756},{"id":"https://openalex.org/keywords/robot-calibration","display_name":"Robot calibration","score":0.47109896}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.72486705},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.66026884},{"id":"https://openalex.org/C183115368","wikidata":"https://www.wikidata.org/wiki/Q856577","display_name":"Weighting","level":2,"score":0.6549221},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6354171},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.53257567},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.49836755},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.47109896},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45536488},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.39879188},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3272804},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16015363},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.102119505},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.094906},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","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},{"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/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1989.100074","pdf_url":null,"source":null,"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.82,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"grants":[],"datasets":[],"versions":[],"referenced_works_count":10,"referenced_works":["https://openalex.org/W1500577086","https://openalex.org/W1582353822","https://openalex.org/W1995284019","https://openalex.org/W1996092409","https://openalex.org/W2059950901","https://openalex.org/W2097256153","https://openalex.org/W2101933016","https://openalex.org/W2111793746","https://openalex.org/W2114866967","https://openalex.org/W4206995016"],"related_works":["https://openalex.org/W339676884","https://openalex.org/W3134555460","https://openalex.org/W2989375220","https://openalex.org/W2972304526","https://openalex.org/W2970937359","https://openalex.org/W2744818472","https://openalex.org/W2291700020","https://openalex.org/W2289935492","https://openalex.org/W2154286641","https://openalex.org/W2119963650"],"abstract_inverted_index":{"The":[0,19,79,104],"design":[1],"of":[2,32,44,82,124,135],"a":[3,8,88,131],"kinematic":[4,30,67,98],"accuracy":[5,77],"compensator":[6],"for":[7,100,167],"robot":[9,34,76,137],"manipulator":[10,46,126],"by":[11,87],"using":[12],"linear":[13,89],"optimal":[14],"control":[15],"theory":[16],"is":[17,21,55,156],"discussed.":[18],"method":[20],"based":[22],"on":[23],"the":[24,28,33,41,45,65,96,101,110,122,125,136,145,150,161],"assumption":[25],"that":[26,40,58,158],"either":[27],"actual":[29,102],"parameters":[31],"have":[35],"been":[36],"previously":[37],"identified":[38],"or":[39],"pose":[42],"errors":[43],"can":[47,69,113,127,140],"be":[48,70,114,128,141],"measured":[49,129],"online.":[50],"A":[51,153],"general":[52],"mathematical":[53],"framework":[54],"used,":[56],"so":[57],"any":[59],"linearized":[60],"error":[61,151],"model":[62,68],"derived":[63],"from":[64],"corresponding":[66],"used":[71],"to":[72,117,147],"construct":[73],"an":[74],"effective":[75],"compensator.":[78],"additive":[80],"corrections":[81],"joint":[83],"commands":[84],"are":[85],"found":[86],"quadratic":[90],"regulator":[91],"algorithm":[92,155],"without":[93],"explicitly":[94],"solving":[95],"inverse":[97],"problem":[99],"robot.":[103],"weighting":[105],"matrix":[106],"and":[107],"coefficients":[108],"in":[109],"cost":[111],"function":[112],"chosen":[115],"systematically":[116],"achieve":[118],"specific":[119],"objectives.":[120],"It":[121],"poses":[123],"online,":[130],"parameter":[132],"identification":[133],"phase":[134],"calibration":[138],"process":[139,162],"eliminated,":[142],"thus":[143],"avoiding":[144],"need":[146],"identify":[148],"all":[149],"sources.":[152],"simplified":[154],"presented":[157],"accelerates":[159],"significantly":[160],"speed,":[163],"making":[164],"it":[165],"suitable":[166],"real-time":[168],"applications.<":[169],">":[172]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W4234543228","counts_by_year":[],"updated_date":"2024-12-02T16:16:15.269696","created_date":"2022-05-12"}