{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:05Z","timestamp":1737263825460,"version":"3.33.0"},"reference-count":20,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4819,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article provides an estimation model for calibrating the kinematics of manipulators with a parallel geometrical structure. Parameter estimation for serial link manipulators is well developed, but fail for most structures with parallel actuators, because the forward kinematics is usually not analytically available for these. We extend parameter estimation to such parallel structures by developing an estimation method where errors in kinematical parameters are linearly related to errors in the tool pose, expressed through the inverse kinematics, which is usually well known. The method is based on the work done to calibrate the MultiCraft robot. This robot has five linear actuators built in parallel around a passive serial arm, thus making up a two\u2010layered parallel\u2010serial manipulator, and the unique MultiCraft construction is reviewed. Due to the passive serial arm, for this robot conventional serial calibration must be combined with estimation of the parameters in the parallel actuator structure. The developed kinematic calibration method is verified through simulations with realistic data and real robot kinematics, taking the MultiCraft manipulator as the case. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110506","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T14:50:16Z","timestamp":1183733416000},"page":"399-410","source":"Crossref","is-referenced-by-count":2,"title":["Estimation model for kinematic calibration of manipulators with a parallel structure"],"prefix":"10.1002","volume":"11","author":[{"given":"Dimitris","family":"Kugiumtzis","sequence":"first","affiliation":[]},{"given":"Bj\u00d8Rn","family":"Lillekjendlic","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":"10.1002\/rob.4620090103"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"Z. S.Roth B. W.Mooring andB.Ravani \u201cAn overview of robot calibration \u201d IEEE J. of Robotics and Automation 377\u2013385 1987.","DOI":"10.1109\/JRA.1987.1087124"},{"volume-title":"Linear and Nonlinear Programming","year":"1984","author":"Luenberger D. G.","key":"e_1_2_1_4_2"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"S. A.Hayati K.Tso andG.Roston \u201cRobot geometry calibration \u201d Proc. of the IEEE Int. Conf. on Robotics and Automation1988 pp.947\u2013951.","DOI":"10.1109\/ROBOT.1988.12181"},{"key":"e_1_2_1_6_2","unstructured":"T. W.HsuandL. J.Everett \u201cIdentification of the kinematic parameters of a robot manipulator for positional accuracy improvement \u201d Proc. of the ASME 1985 Int. Computers in Engineering Conf. 1985 pp.263\u2013267."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498400300105"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040107"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.105381"},{"volume-title":"Introduction to Robotics, Mechanics and Control","year":"1989","author":"Craig J. J.","key":"e_1_2_1_10_2"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"J.ZiegertandP.Datseris \u201cBasic considerations for robot calibration \u201d Proc. of the IEEE Int. Conf. on Robotics and Automation 1988 pp.932\u2013938.","DOI":"10.1109\/ROBOT.1988.12179"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"S. A.Hayati \u201cRobot arm geometric link parameter estimation \u201d Proc. of the 22nd IEEE Conference on Desision and Control 1983 pp.1477\u20131483.","DOI":"10.1109\/CDC.1983.269783"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"H. W.StoneandA. C.Sanderson \u201cA prototype arm signature identification system \u201d Proc. of the 1987 IEEE Int. Conf. on Robotics and Automation 1987 pp.175\u2013182.","DOI":"10.1109\/ROBOT.1987.1087835"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620090106"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"J. M.HollerbachandD. M.Lokhorst \u201cClosed\u2010loop kinematic calibration of the RSI 6\u2010dof hand controller \u201d Proc. of the 1993 IEEE Int. Conf. on Robotics and Automation 1993 pp.142\u2013148.","DOI":"10.1109\/ROBOT.1993.292138"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100306"},{"key":"e_1_2_1_17_2","unstructured":"A.Asdosl \u201cSensorbasert styring i oppgavekoordinater \u201d Diploma Thesis University of Trondheim Norway 1990 (In Norwegian)."},{"key":"e_1_2_1_18_2","unstructured":"D.Kugiumtzis \u201cOptimal parameter estimation and sensitivity analyses for error minimization in the nonlinear kinematics of MultiCraft\u2010560 robot \u201d Master Dissertation University of Oslo Norway 1991."},{"volume-title":"Robot Manipulators","year":"1981","author":"Paul R. P.","key":"e_1_2_1_19_2"},{"key":"e_1_2_1_20_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620100306"},{"key":"e_1_2_1_21_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3259031"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110506","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110506","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:46:26Z","timestamp":1737186386000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110506"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":20,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110506"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110506","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}