{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T05:57:16Z","timestamp":1777615036923,"version":"3.51.4"},"reference-count":9,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7286,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The kinematic error compensation of robot manipulators is at present being attempted by improving the precision of the nominal robot kinematic parameters. This paper addresses the problem of kinematic compensation using a new mathematical joint model proposed to account for shortcomings in existing methods. The corrected manipulator transformation is formulated in terms of \u201cgeneralized Jacobians\u201d: relating differential errors at the joints to the differential change in the manipulator transformation. The details of application are discussed for a particular industrial manipulator.<\/jats:p>","DOI":"10.1002\/rob.4620040208","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:41:43Z","timestamp":1183700503000},"page":"259-280","source":"Crossref","is-referenced-by-count":10,"title":["Robot manipulator kinematic compensation using a generalized jacobian formulation"],"prefix":"10.1002","volume":"4","author":[{"given":"Morris R.","family":"Driels","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Uday S.","family":"Pathre","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"S.HayatiandM.Mirmirani \u201cPUMA 600 Robot Arm Geometric Calibration \u201d in Proceedings of the International Conference Robotics Atlanta GA March1984."},{"key":"e_1_2_1_3_2","first-page":"79","article-title":"Industrial Robot Calibration Method and Results","volume":"1","author":"Whitney D. 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P.Paul B.Shimano andG.Mayer \u201cDifferential Kinematic Control Equations for Simple Manipulators \u201d IEEE Trans on Systems Man and Cybernetics June 456\u2013460(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.4620040208","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620040208","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T08:34:37Z","timestamp":1697877277000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620040208"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1987,4]]},"references-count":9,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1987,4]]}},"alternative-id":["10.1002\/rob.4620040208"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620040208","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1987,4]]}}}