{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,18]],"date-time":"2026-03-18T18:33:12Z","timestamp":1773858792440,"version":"3.50.1"},"reference-count":9,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7772,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1985,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The absolute positioning accuracy of robot manipulator can be increased substantially by updating the nominal link parameters in the control software. This paper presents a general method to estimate the link parameter errors for any serial link manipulator (i.e., <jats:italic>n<\/jats:italic> links, and any combination of revolute and prismatic joints). The parameters are estimated through a linear kinematic model which relates the link bias errors to the end\u2010effector positioning error. Only end\u2010effector measurements are required instead of individual link measurements to implement this method.<\/jats:p>","DOI":"10.1002\/rob.4620020406","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:04:16Z","timestamp":1183698256000},"page":"397-413","source":"Crossref","is-referenced-by-count":270,"title":["Improving the absolute positioning accuracy of robot manipulators"],"prefix":"10.1002","volume":"2","author":[{"given":"S.","family":"Hayati","sequence":"first","affiliation":[]},{"given":"M.","family":"Mirmirani","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. S.Hartenberg \u201cA Kinematic Notation for Lower\u2010pair Mechanisms Based on Matrices \u201dJ. Appl. Mech. 215\u2013221(June1955).","DOI":"10.1115\/1.4011045"},{"key":"e_1_2_1_3_2","volume-title":"Robot Manipulators: Mathematics, Programming and Control","author":"Paul R. P.","year":"1981"},{"key":"e_1_2_1_4_2","first-page":"151","article-title":"The Effect of Joint Axis Misalignment on Robot Positioning Accuracy","volume":"2","author":"Mooring B. W.","year":"1983","journal-title":"The Proceedings of ASME Conference on Computers in Engineering"},{"key":"e_1_2_1_5_2","volume-title":"Kinematics and Mechanism Design","author":"Suh C.","year":"1978"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"C.Wu \u201cThe Kinematic Error Model for the Design of Robot Manipulators \u201dProceedings of the 1983 American Control Conference San Francisco CA June1983.","DOI":"10.23919\/ACC.1983.4788164"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.2514\/3.8541"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"S.Hayati \u201cGalileo Spacecraft High Gain Antenna Offset Calibration \u201dProceedings of the 1982 American Control Conference Arlington Virginia June 14\u201416 1982.","DOI":"10.23919\/ACC.1982.4788024"},{"key":"e_1_2_1_9_2","first-page":"421","volume-title":"Applied Linear Algebra","author":"Ben Noble","year":"1969"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"S.Hayati \u201cRobot Arm Geometric Link Parameter Estimation \u201dProceedings of the 22nd IEEE Conference on Decision and Control December1983 pp.1477\u20131483.","DOI":"10.1109\/CDC.1983.269783"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620020406","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620020406","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,20]],"date-time":"2023-10-20T01:53:15Z","timestamp":1697766795000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620020406"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1985,12]]},"references-count":9,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1985,12]]}},"alternative-id":["10.1002\/rob.4620020406"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620020406","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1985,12]]}}}