{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:15:51Z","timestamp":1737263751804,"version":"3.33.0"},"reference-count":10,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7345,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A generalized model that goes beyond the usual assumption of \u201cideal\u201d joint behavior is proposed. The \u201creal\u201d joint has five ancillary degrees of freedom besides the dominant motion. The resulting manipulator transformation with its greater degree of sophistication is expected to help in calibration and compensation of the various kinematic contributions to robot inaccuracy. The procedure to compute this generalized manipulator transformation is presented. The generalized model also results in manipulator differential relationships and these are discussed.<\/jats:p>","DOI":"10.1002\/rob.4620040107","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"77-114","source":"Crossref","is-referenced-by-count":27,"title":["Generalized joint model for robot manipulator kinematic calibration and compensation"],"prefix":"10.1002","volume":"4","author":[{"given":"Morris R.","family":"Driels","sequence":"first","affiliation":[]},{"given":"Uday S.","family":"Pathre","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":"L. P.FoulloyandR. B.Kelley \u201cImproving the Precision of a Robot\u201d in: Proceedings of the IEEE Conference on Robotics Atlanta GA March 1984 pp.62\u201367.","DOI":"10.1109\/ROBOT.1984.1087153"},{"key":"e_1_2_1_3_2","unstructured":"S.HayatiandM.Mirmirani \u201cPUMA 600 Robot Arm Geometric Calibration \u201d In: Proceedings of the International Conference on Robotics Atlanta GA March1984."},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"C.Wu \u201cThe Kinematic Error Model for the Design of Robot Manipulators \u201d In: Proceedings of the American Control Conference San Francisco CA June 1983 pp.497\u2013502.","DOI":"10.23919\/ACC.1983.4788164"},{"key":"e_1_2_1_5_2","first-page":"79","article-title":"Industrial Robot Calibration Method and Results","volume":"1","author":"Whitney D. E.","year":"1984","journal-title":"ASME Proceedings of the International Computers in Engineering Conference and Exhibit"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0007-8506(07)61808-3"},{"volume-title":"Robot Manipulators: Mathematics, Programming and Control","year":"1981","author":"Paul R. P.","key":"e_1_2_1_7_2"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. S.Hartenberg \u201cA Kinematic Notation for Lower\u2010Pair Mechanisms Based on Matrices \u201d ASME J. Appl. Mechan. 215\u2013221(1955).","DOI":"10.1115\/1.4011045"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"P. N.ShethandJ. J.Uicker Jr. \u201cA Generalized Symbolic Notation for Mechanisms \u201d ASME J. Engin. Ind. 102\u2013112(1971).","DOI":"10.1115\/1.3427855"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"R. P.Paul B.Shimano andG.Mayer \u201cKinematic Control Equations for Simple Manipulators \u201d IEEE Trans. Syst. Man Cybern. 449\u2013455(1981).","DOI":"10.1109\/TSMC.1981.4308713"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"R. P.Paul B.Shimano andG.Mayer \u201cDifferential Kinematic Control Equations for Simple Manipulators \u201d IEEE Trans. Syst. Man Cybern. 456\u201360(1981).","DOI":"10.1109\/TSMC.1981.4308714"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040107","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040107","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:55:56Z","timestamp":1737183356000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040107"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,2]]},"references-count":10,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1987,2]]}},"alternative-id":["10.1002\/rob.4620040107"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040107","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1987,2]]}}}