{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,26]],"date-time":"2025-09-26T08:32:09Z","timestamp":1758875529300,"version":"3.33.0"},"reference-count":17,"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":5519,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1992,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In dealing with an industrial manipulator, the end\u2010effector accuracy is a major concern. The positioning of the end effector is determined by the controller that utilizes the data from a closed\u2010form kinematic inversion. The closed\u2010form inversion uses nominal, i.e., manufacturer specified, values of link lengths, twists, and offsets. Due to manufacturing tolerances, set\u2010up, and usage, these nominal parameters may be inaccurate. If the nominal parameters contain built\u2010in error values, the closed\u2010form kinematic inversion will yield incorrect joint values, and the actual end\u2010effector position will deviate from its desired position. One may use a parameter identification method to identify the position\u2010independent error parameter values. This article assumes that this has been done and it presents an iterative compensation algorithm (ICA) through which the identified position\u2010independent parameter error values may be used to correct the joint values obtained through the closed\u2010form kinematic inversion. The Denavit and Hartenberg (D\u2010H) parameters (\u03b8<jats:italic>s<\/jats:italic>\u03b1<jats:italic>a<\/jats:italic>) are used to model the given<jats:italic>M<\/jats:italic>\u2010jointed manipulator, and a set of four special Jacobian matrices (<jats:bold>J<\/jats:bold><jats:sub>\u03b8<\/jats:sub>,<jats:bold>J<\/jats:bold><jats:sub><jats:italic>s<\/jats:italic><\/jats:sub>,<jats:bold>J<\/jats:bold><jats:sub>\u03b1<\/jats:sub>, and<jats:bold>J<\/jats:bold><jats:sub><jats:italic>a<\/jats:italic><\/jats:sub>) are formulated. The iterative compensation algorithm allows one to determine the<jats:italic>M<\/jats:italic>unknown position\u2010dependent joint error values by using these four special Jacobian matrices. The improvements obtained through the use of the compensation algorithm will be presented for regular trajectories, as well as when the robot nears certain singularity conditions. Since it is important to know a priori a definite number of iterations that must be performed, the level of compensation after a fixed number of iterations is also studied. Through the presentation of numerous examples, it is shown that the proposed compensation algorithm is simple and straightforward to implement, and it increases the end\u2010effector accuracy.<\/jats:p>","DOI":"10.1002\/rob.4620090107","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T12:52:18Z","timestamp":1183726338000},"page":"113-137","source":"Crossref","is-referenced-by-count":7,"title":["Compensation of Robot joint variables using special Jacobian matrices"],"prefix":"10.1002","volume":"9","author":[{"given":"C. R.","family":"Mirman","sequence":"first","affiliation":[]},{"given":"K. C.","family":"Gupta","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3260797"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600405"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(87)90053-X"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"W.VeitscheggerandC. H.Wu \u201cA method for calibrating and compensating robot kinematic errors \u201d Proc. of the IEEE Conference on Robotics and Automation 1987 pp.39\u201344.","DOI":"10.1109\/ROBOT.1987.1087839"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087054"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258923"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(81)90010-0"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143817"},{"key":"e_1_2_1_10_2","unstructured":"C. R.MirmanandK. C.Gupta \u201cRobot parameter identification and compensation using sets of Jacobian matrices \u201d to appear."},{"key":"e_1_2_1_11_2","unstructured":"C. R.MirmanandK. C.Gupta \u201cIdentification of position\u2010independent robot parameter errors using special Jacobian matrices \u201d to appear."},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258715"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"D.BennetandJ. M.Hollerbach \u201cIdentifying the kinematics of non\u2010redundant serial chain manipulators by a closed loop approach \u201d Proc. of the 4th ICAR Columbus OH 1989.","DOI":"10.1007\/978-3-642-83957-3_36"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258714"},{"key":"e_1_2_1_15_2","unstructured":"International Mathematical and Statistical Libraries (IMSL) 10th ed. Houston TX 1988."},{"volume-title":"Linear Algebra and Its Applications","year":"1980","author":"Strang G.","key":"e_1_2_1_16_2"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574700007359"},{"key":"e_1_2_1_18_2","unstructured":"C. R.Mirman \u201cIterative Parameter Identification and Compensation for Robots Using Special Jacobian Matrices \u201d Ph.D. Dissertation University of Illinois at Chicago Chicago IL 1990."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620090107","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620090107","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:27:01Z","timestamp":1737185221000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620090107"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1992,2]]},"references-count":17,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1992,2]]}},"alternative-id":["10.1002\/rob.4620090107"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620090107","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1992,2]]}}}