{"id":"https://openalex.org/W3198127959","doi":"https://doi.org/10.20965/ijat.2021.p0599","title":"Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial","display_name":"Kinematic Modeling of Six-Axis Industrial Robot and its Parameter Identification: A Tutorial","publication_year":2021,"publication_date":"2021-09-04","ids":{"openalex":"https://openalex.org/W3198127959","doi":"https://doi.org/10.20965/ijat.2021.p0599","mag":"3198127959"},"language":"en","primary_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.20965/ijat.2021.p0599","pdf_url":null,"source":{"id":"https://openalex.org/S2764525154","display_name":"International Journal of Automation Technology","issn_l":"1881-7629","issn":["1881-7629","1883-8022"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"type":"article","type_crossref":"journal-article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"diamond","oa_url":"https://doi.org/10.20965/ijat.2021.p0599","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5009304340","display_name":"Md Moktadir Alam","orcid":"https://orcid.org/0000-0001-8541-690X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Md. Moktadir Alam","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091817541","display_name":"Soichi Ibaraki","orcid":"https://orcid.org/0000-0002-3527-2036"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Soichi Ibaraki","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5041170917","display_name":"Koki Fukuda","orcid":"https://orcid.org/0009-0008-5327-2989"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Koki Fukuda","raw_affiliation_strings":[],"affiliations":[]}],"institution_assertions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":0,"currency":"USD","value_usd":0,"provenance":"doaj"},"apc_paid":null,"fwci":1.294,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.999972,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":90},"biblio":{"volume":"15","issue":"5","first_page":"599","last_page":"610"},"is_retracted":false,"is_paratext":false,"primary_topic":{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9999,"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"}},"topics":[{"id":"https://openalex.org/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9999,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9967,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9886,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/industrial-robot","display_name":"Industrial robot","score":0.58974934},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.53937256},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.49642187}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8268704},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.58974934},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.53937256},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.5378508},{"id":"https://openalex.org/C2776652708","wikidata":"https://www.wikidata.org/wiki/Q584028","display_name":"Backlash","level":2,"score":0.5297806},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.5268784},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.52636534},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5016136},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.49642187},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46914285},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4566102},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4503405},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.42803565},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.36487922},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2974281},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2969964},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.23128057},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.1885868},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.16474885},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15814707},{"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"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/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"is_oa":true,"landing_page_url":"https://doi.org/10.20965/ijat.2021.p0599","pdf_url":null,"source":{"id":"https://openalex.org/S2764525154","display_name":"International Journal of Automation Technology","issn_l":"1881-7629","issn":["1881-7629","1883-8022"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true}],"best_oa_location":{"is_oa":true,"landing_page_url":"https://doi.org/10.20965/ijat.2021.p0599","pdf_url":null,"source":{"id":"https://openalex.org/S2764525154","display_name":"International Journal of Automation Technology","issn_l":"1881-7629","issn":["1881-7629","1883-8022"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4324309662","host_organization_name":"Fuji Technology Press Ltd.","host_organization_lineage":["https://openalex.org/P4324309662"],"host_organization_lineage_names":["Fuji Technology Press Ltd."],"type":"journal"},"license":"cc-by-nd","license_id":"https://openalex.org/licenses/cc-by-nd","version":"publishedVersion","is_accepted":true,"is_published":true},"sustainable_development_goals":[{"display_name":"Industry, innovation and infrastructure","score":0.46,"id":"https://metadata.un.org/sdg/9"}],"grants":[{"funder":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science","award_id":"JP18K03874"}],"datasets":[],"versions":[],"referenced_works_count":19,"referenced_works":["https://openalex.org/W2026850673","https://openalex.org/W2066211959","https://openalex.org/W2086209297","https://openalex.org/W2116336719","https://openalex.org/W2121000007","https://openalex.org/W2246023205","https://openalex.org/W2273672928","https://openalex.org/W2338237606","https://openalex.org/W2620696154","https://openalex.org/W2750386548","https://openalex.org/W2756924539","https://openalex.org/W2934971075","https://openalex.org/W2953221667","https://openalex.org/W2953228878","https://openalex.org/W2996194431","https://openalex.org/W3088227655","https://openalex.org/W3089300798","https://openalex.org/W3142345619","https://openalex.org/W4235922964"],"related_works":["https://openalex.org/W4360878639","https://openalex.org/W3135439126","https://openalex.org/W2811382984","https://openalex.org/W2744818472","https://openalex.org/W2391312646","https://openalex.org/W2355512144","https://openalex.org/W2355067942","https://openalex.org/W2351331567","https://openalex.org/W1969999327","https://openalex.org/W1968032476"],"abstract_inverted_index":{"In":[0,62],"advanced":[1],"industrial":[2,24,60],"applications,":[3],"like":[4],"machining,":[5],"the":[6,18,34,53,63,77,82,90,93,98,103,109,129,140,145,159,169,185,189,211,216,223,226,233,260],"absolute":[7,19],"positioning":[8,20,30,176,191,199,235],"accuracy":[9,21],"of":[10,22,47,65,81,92,128,152,158,168,184,193,201,210,218,225,232,237,267],"a":[11,58,66,71,117,125,150,164,174,208,268],"six-axis":[12,59,269],"robot":[13],"is":[14,50,106,136,205],"indispensable.":[15],"To":[16],"improve":[17],"an":[23,134,182,255],"robot,":[25],"numerical":[26,243],"compensation":[27,244,266],"based":[28,75,96,148],"on":[29,76,97,149],"error":[31,141,261,265],"prediction":[32],"by":[33],"Denavit":[35],"and":[36,79,215,241,264],"Hartenberg":[37],"(D-H)":[38],"model":[39,95,105,120,147,171,222],"has":[40],"been":[41],"investigated":[42],"extensively.":[43],"The":[44,156,197,230],"main":[45],"objective":[46],"this":[48,68,113,179],"study":[49,114],"to":[51,108,138,221],"review":[52],"kinematic":[54,94,119,146,170],"modeling":[55],"theory":[56],"for":[57,172,259],"robot.":[61,270],"form":[64],"tutorial,":[67],"paper":[69,180,253],"defines":[70],"local":[72,130],"coordinate":[73,99,131],"system":[74],"position":[78],"orientation":[80],"rotary":[83,195,203,227,239],"axis":[84,204,228,240],"average":[85],"lines,":[86],"as":[87,89,207],"well":[88],"derivation":[91],"transformation":[100],"theory.":[101],"Although":[102],"present":[104,186],"equivalent":[107],"classical":[110,160],"D-H":[111,161],"model,":[112,187],"shows":[115],"that":[116],"different":[118,126],"can":[121],"be":[122],"derived":[123],"using":[124],"definition":[127],"systems.":[132],"Subsequently,":[133],"algorithm":[135],"presented":[137],"identify":[139],"sources":[142],"included":[143],"in":[144],"set":[151],"measured":[153],"end-effector":[154],"positions.":[155],"identification":[157,231],"parameters":[162],"indicates":[163],"practical":[165],"engineering":[166],"application":[167],"improving":[173],"robot\u2019s":[175],"accuracy.":[177],"Furthermore,":[178],"presents":[181],"extension":[183],"including":[188],"angular":[190,198,234],"deviation":[192,200,236],"each":[194,202,238],"axis.":[196],"formed":[206],"function":[209],"axis\u2019":[212],"command":[213],"angles":[214],"direction":[217],"its":[219,242],"rotation":[220],"effect":[224],"backlash.":[229],"are":[245],"presented,":[246],"along":[247],"with":[248],"their":[249],"experimental":[250],"demonstration.":[251],"This":[252],"provides":[254],"essential":[256],"theoretical":[257],"basis":[258],"source":[262],"diagnosis":[263]},"cited_by_api_url":"https://api.openalex.org/works?filter=cites:W3198127959","counts_by_year":[{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1}],"updated_date":"2025-01-02T03:18:43.857506","created_date":"2021-09-13"}