{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:44Z","timestamp":1737263864885,"version":"3.33.0"},"reference-count":21,"publisher":"Wiley","issue":"7","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4273,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article deals with the subject of increasing the positioning accuracy of a manipulator beyond what is typically obtained via Denavit\u2010Hartenberg (D\u2010H) calibration. It is commonly accepted that one method for accomplishing this requires including \u201cextra\u201d terms (such as static deflection) in the D\u2010H model. Another technique, which is experimentally verified and quantified in this article, is that of local calibration. Rather than continually introducing more and more modeling terms, we restrict the workvolume of the manipulator. One contribution of this article is an experimental investigation of local calibration. Most data indicates that local calibration offers advantages and it quantifies that the approximate improvement on one particular PUMA 560 robot is as much as four times better than global calibration. Some data indicates that it is not always true that \u201clocalizing\u201d the calibration is an improvement. The article also discusses the problem of recognizing bad calibration data. We demonstrate a technique for identifying and removing \u201cbad\u201d data. Finally, the article shows that the locality of workvolume must include a consideration of the joint motions as well. For example, it presents results when data is taken with the arm in a single configuration, and in multiple configurations. \u00a9 1995 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620120705","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T18:17:01Z","timestamp":1183745821000},"page":"505-514","source":"Crossref","is-referenced-by-count":4,"title":["Improved manipulator perfomance through local d\u2010h calibation"],"prefix":"10.1002","volume":"12","author":[{"given":"Louis J.","family":"Everett","sequence":"first","affiliation":[]},{"given":"James","family":"Lei","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"volume-title":"Fundamentals of Manipulator Calibration","year":"1991","author":"Mooring B. W.","key":"e_1_2_1_2_2"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"J.ChenandL. M.Chao \u201cPositioning error analysis for robot manipulator with all rotary joint \u201dProc. IEEE Int. Conf. Rob. Autom. San Francisco CA April1986.","DOI":"10.1109\/ROBOT.1986.1087544"},{"key":"e_1_2_1_4_2","unstructured":"J. J.Rho \u201cIdentification of kinematic parameters using several models with experimental verification \u201d Master's Dissertation Texas A&M University College Station TX 1988."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143817"},{"key":"e_1_2_1_6_2","first-page":"41","article-title":"Arm signature identification","volume":"1","author":"Stone H. W.","year":"1986","journal-title":"Proc. IEEE Int. Conf. Rob. Autom."},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.105381"},{"key":"e_1_2_1_8_2","unstructured":"U. J.Fan \u201cProduct design analysis for robotic assembly using extended group technology \u201d PhD Dissertation Texas A&M University 1988."},{"volume-title":"Summer faculty research program results","year":"1985","author":"Everett L. J.","key":"e_1_2_1_9_2"},{"volume-title":"Kinematic parameter identification for the enterprise robot","year":"1986","author":"Everett L. J.","key":"e_1_2_1_10_2"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"H.KazerooniandM. G.Her \u201cRobotic deburring of parts with unknown geometry \u201dProc. Am. Control Conf. June1988 pp.108\u2013114.","DOI":"10.23919\/ACC.1988.4789701"},{"key":"e_1_2_1_12_2","doi-asserted-by":"crossref","unstructured":"L. J.EverettandT. W.Ives \u201cA sensor used for measurements in the calibration of production robots \u201dProc. IEEE Int. Conf. Rob. Autom. 1993 pp.174\u2013179.","DOI":"10.1109\/ROBOT.1993.291979"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"L. J.EverettandT.Ives \u201cAutomatic maintenance of robot programs \u201dIEEE Trans. Rob. Autom. 1995 (forthcoming).","DOI":"10.1109\/70.406945"},{"key":"e_1_2_1_14_2","doi-asserted-by":"crossref","unstructured":"J.DenavitandR. S.HartenbergA kinematic notation for lower\u2010pair mechanisms based on matrices J. Appl. Mech. Trans. ASME June 215\u2013221 1955.","DOI":"10.1115\/1.4011045"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087124"},{"volume-title":"Fundamentals of Manipulator Calibration","year":"1991","author":"Mooring B. W.","key":"e_1_2_1_16_2"},{"key":"e_1_2_1_17_2","unstructured":"L. J.Everett \u201cCompensation of position errors in manipulators subject to large gravity loads \u201d Progress report Program for Automation in Manufacturing Texas A&M December1988."},{"volume-title":"Understanding and reducing machine errors","year":"1990","author":"Everett L. J.","key":"e_1_2_1_18_2"},{"key":"e_1_2_1_19_2","first-page":"92","article-title":"Industrial robot calibration method and results","volume":"1","author":"Whitney D. E.","year":"1984","journal-title":"Comput. Eng. Proc. Int. Comput. Eng. Conf. Exhib."},{"key":"e_1_2_1_20_2","unstructured":"S. A.HayatiandM.Mirmirani \u201cPuma 600 robot arm geometric calibration \u201dProc. IEEE Int. Conf. Rob. Atlanta GA 1984."},{"key":"e_1_2_1_21_2","unstructured":"C. H.Menq J. H.Borm andJ. Z.Lai \u201cEstimation and observability measure of parameter errors in a robot kinematic model \u201dWinter Annu. Meet. Am. Soc. Mech. 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