{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:16:27Z","timestamp":1737263787969,"version":"3.33.0"},"reference-count":12,"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>This article describes a new calibration system for robot manipulators which improves their absolute positioning accuracy by using parameter\u2010estimation algorithms based on the Newton method. When 3D position data of the specified points on a manipulator and the joint encoder values are input to the calibration system, the system estimates the offset values of joint encoders, link lengths, and position and orientation of the manipulator base coordinate system with respect to the world coordinate system which is difficult to obtain by conventional calibration methods. This calibration system can be applied to various manipulator types by just changing the basic kinematic equations. The system employs an algebraic programming system called REDUCE to automatically reduce the manipulator kinematic equation and partial differential calculus in the Newton method. For efficiency, first only the arm part with three degrees of freedom and then the hand part are calibrated. The experimental results demonstrate the effectiveness of this system by reducing the robot's absolute positioning errors to the order of repeatability errors.<\/jats:p>","DOI":"10.1002\/rob.4620040109","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"145-156","source":"Crossref","is-referenced-by-count":12,"title":["A new approach to improve absolute positioning accuracy of robot manipulators"],"prefix":"10.1002","volume":"4","author":[{"given":"M.","family":"Ishii","sequence":"first","affiliation":[]},{"given":"S.","family":"Sakane","sequence":"additional","affiliation":[]},{"given":"M.","family":"Kakikura","sequence":"additional","affiliation":[]},{"given":"Y.","family":"Mikami","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"B.Schefer \u201cGeometric Control and Calibration Method of an Industrial Robot \u201d in: Proceedings of the Twelfth International Symposium on Industrial Robots 1982 pp.331\u2013339."},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"C. H.Wu \u201cThe Kinematic Error Model for the Design of Robot Manipulator \u201d in: Proceedings of the 1983 American Control Conference June1983 pp.497\u2013502.","DOI":"10.23919\/ACC.1983.4788164"},{"key":"e_1_2_1_4_2","unstructured":"K.SugimotoandT.Okada \u201cCompensation of Positioning Errors Caused by Geometric Deviations in Robot System \u201d in: Proceedings of the Second International Symposium on Robotics Research 1984 pp.107\u2013111."},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"L. P.FoullyandR. B.Kelly \u201cImproving the Precision of a Robot \u201d in: Proceedings of the 1984 IEEE International Conference on Robotics and Automation pp.62\u201367.","DOI":"10.1109\/ROBOT.1984.1087153"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","unstructured":"G.Agin \u201cCalibration and Use of a Light Stripe Range Sensor Mounted on Hand of a Robot \u201d in: Proceedings of the 1985 IEEE International Conference on Robotics and Automation pp.680\u2013685.","DOI":"10.1109\/ROBOT.1985.1087293"},{"key":"e_1_2_1_7_2","unstructured":"H.Zehn \u201cError Analysis of Robot Manipulators and Error Transmission Functions \u201d in: Proceedings of the Fifteenth International Symposium on Industrial Robots 1985 pp.873\u2013878."},{"key":"e_1_2_1_8_2","unstructured":"D.Payamet M. J.Aldon andA.Liegeous \u201cIdentification and Compensation of Mechanical Errors for Industrial Robots \u201d in: Proceedings of the Fifteenth International Symposium on Industrial Robots 1985 pp.857\u2013864."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020406"},{"key":"e_1_2_1_10_2","unstructured":"D. E.Whitney C. A.Lozinski andJ. M.Rourke \u201cIndustrial Robot Calibration and Results \u201d in: Proceedings of the ASME Computers in Engineering Conference 1984 pp.92\u2013100."},{"key":"e_1_2_1_11_2","unstructured":"B. W.MooringandG. R.Tang \u201cAn Improved Method for Identifying the Kinematic Parameters in a Six Axis Robot \u201d in: Proceedings of the ASME Computers in Engineering Conference August1984 pp.79\u201384."},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"S.Ahmad \u201cSecond Order Nonlinear Kinematics Effects and their Compensation \u201d in: Proceedings of the 1985 IEEE International Conference on Robotics and Automation pp.307\u2013314.","DOI":"10.1109\/ROBOT.1985.1087262"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-2551-2"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620040109","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040109","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T06:56:49Z","timestamp":1737183409000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040109"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,2]]},"references-count":12,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1987,2]]}},"alternative-id":["10.1002\/rob.4620040109"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040109","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]]}}}