{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T18:39:39Z","timestamp":1780598379235,"version":"3.54.1"},"reference-count":21,"publisher":"Springer Science and Business Media LLC","issue":"1","license":[{"start":{"date-parts":[[2018,3,3]],"date-time":"2018-03-03T00:00:00Z","timestamp":1520035200000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["51375194"],"award-info":[{"award-number":["51375194"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["51575411"],"award-info":[{"award-number":["51575411"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2019,4]]},"DOI":"10.1007\/s10846-018-0796-6","type":"journal-article","created":{"date-parts":[[2018,3,3]],"date-time":"2018-03-03T05:05:40Z","timestamp":1520053540000},"page":"29-41","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":34,"title":["Modeling the Static Friction in a Robot Joint by Genetically Optimized BP Neural Network"],"prefix":"10.1007","volume":"94","author":[{"given":"Xiao","family":"Tu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"YunFei","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pu","family":"Zhao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9144-7371","authenticated-orcid":false,"given":"Xin","family":"Cheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2018,3,3]]},"reference":[{"key":"796_CR1","doi-asserted-by":"publisher","first-page":"22","DOI":"10.1016\/j.rcim.2015.11.001","volume":"39","author":"M Guillo","year":"2016","unstructured":"Guillo, M., Dubourg, L.: Impact & improvement of tool deviation in friction stir welding: weld quality & real-time compensation on an industrial robot. Robot Cim-Int Manuf. 39, 22\u201331 (2016)","journal-title":"Robot Cim-Int Manuf."},{"key":"796_CR2","doi-asserted-by":"crossref","unstructured":"Simoni, L., Beschi, M., Legnani, G., Visioli, A.: Friction Modeling with Temperature Effects for Industrial Robot Manipulators. In: 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 3524\u20133529. IEEE (2015)","DOI":"10.1109\/IROS.2015.7353869"},{"key":"796_CR3","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-10-1753-7","volume-title":"Design Analysis and Control of Cable-Suspended Parallel Robots and its Applications","author":"B Zi","year":"2017","unstructured":"Zi, B., Qian, S.: Design Analysis and Control of Cable-Suspended Parallel Robots and its Applications. Springer, Berlin (2017)"},{"issue":"3-4","key":"796_CR4","doi-asserted-by":"publisher","first-page":"643","DOI":"10.1007\/s10846-013-9848-0","volume":"74","author":"B Zi","year":"2014","unstructured":"Zi, B., Ding, H., Cao, J., et al.: Integrated mechanism design and control for completely restrained hybrid-driven based cable parallel manipulators. J Intell Robot Syst. 74(3-4), 643\u2013661 (2014)","journal-title":"J Intell Robot Syst."},{"issue":"4","key":"796_CR5","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1109\/9.847103","volume":"45","author":"J Swevers","year":"2000","unstructured":"Swevers, J., Al-Bender, F., Ganseman, C.G., Projogo, T.: An integrated friction model structure with improved presliding behavior for accurate friction compensation. IEEE T Autom. Contr. 45(4), 675\u2013686 (2000)","journal-title":"IEEE T Autom. Contr."},{"issue":"5","key":"796_CR6","doi-asserted-by":"publisher","first-page":"1694","DOI":"10.1109\/TMECH.2013.2293001","volume":"19","author":"AC Bittencourt","year":"2014","unstructured":"Bittencourt, A.C., Axelsson, P.: Modeling and experiment design for identification of wear in a robot joint under load and temperature uncertainties based on friction data. IEEE-ASME T Mech. 19(5), 1694\u20131706 (2014)","journal-title":"IEEE-ASME T Mech."},{"issue":"3","key":"796_CR7","doi-asserted-by":"publisher","first-page":"176","DOI":"10.1016\/S0947-3580(98)70113-X","volume":"4","author":"H Olsson","year":"1998","unstructured":"Olsson, H., \u00c5Str\u00f6m, K.J., Canudas De Wit, C., et al.: Friction models and friction compensation. Eur. J Control. 4(3), 176\u2013195 (1998)","journal-title":"Eur. J Control."},{"issue":"1","key":"796_CR8","first-page":"128","volume":"4","author":"AJ Morin","year":"1833","unstructured":"Morin, A.J.: New friction experiments carried out at Metz in 1831\u20131833. Proc. French Royal Acad. Sci. 4(1), 128 (1833)","journal-title":"Proc. French Royal Acad. Sci."},{"issue":"38","key":"796_CR9","first-page":"39","volume":"46","author":"R Stribeck","year":"1902","unstructured":"Stribeck, R.: The key qualities of sliding and roller bearings. Zeitschrift des Vereines Seutscher Ingenieure. 46 (38), 39 (1902)","journal-title":"Zeitschrift des Vereines Seutscher Ingenieure."},{"key":"796_CR10","doi-asserted-by":"crossref","unstructured":"Dohring, M.E., Lee, E., Newman, W.S.: A load-dependent transmission friction model: theory and experiments. In: Proceedings of the IEEE International Conference on Robotics and Automation, pp 430\u2013436 (1993)","DOI":"10.1109\/ROBOT.1993.292210"},{"key":"796_CR11","doi-asserted-by":"crossref","unstructured":"Hamon, P., Gautier, M., Garrec, P.: Dynamic Identification of Robots with a Dry Friction Model Depending on Load and Velocity. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp 6187\u20136193 (2010)","DOI":"10.1109\/IROS.2010.5649189"},{"key":"796_CR12","unstructured":"Wu, W.: Joint Friction Analysis and Low-Speed High-Precision Motion Control of Multi-DOF Serial Robots ZheJiang University (2013)"},{"issue":"1","key":"796_CR13","doi-asserted-by":"publisher","first-page":"224","DOI":"10.1109\/41.982266","volume":"49","author":"A Visioli","year":"2002","unstructured":"Visioli, A., Legnani, G.: On the trajectory tracking control of industrial SCARA robot manipulators. IEEE T Ind. Electron. 49(1), 224\u2013232 (2002)","journal-title":"IEEE T Ind. Electron."},{"issue":"3","key":"796_CR14","doi-asserted-by":"publisher","first-page":"199","DOI":"10.1023\/B:STCO.0000035301.49549.88","volume":"14","author":"AJ Smola","year":"2004","unstructured":"Smola, A.J., Sch\u00f6lkopf, B.: A tutorial on support vector regression. Stat. Comput. 14(3), 199\u2013222 (2004)","journal-title":"Stat. Comput."},{"issue":"2","key":"796_CR15","doi-asserted-by":"publisher","first-page":"121","DOI":"10.1023\/A:1009715923555","volume":"2","author":"CJ Burges","year":"1998","unstructured":"Burges, C.J.: A tutorial on support vector machines for pattern recognition. Data Min Knowl. Disc. 2(2), 121\u2013167 (1998)","journal-title":"Data Min Knowl. Disc."},{"key":"796_CR16","first-page":"553","volume-title":"Brief Introduction of Back Propagation (BP) Neural Network Algorithm and Its Improvement, vol. 169","author":"J Li","year":"2012","unstructured":"Li, J., Cheng, J., Shi, J., Huang, F.: Brief Introduction of Back Propagation (BP) Neural Network Algorithm and Its Improvement, vol. 169, pp 553\u2013558. Springer, Berlin (2012)"},{"key":"796_CR17","unstructured":"Jin, W., Li, Z.J., Wei, L.S., Zhen, H.: The improvements of BP neural network learning algorithm. In: Proceedings of the 5th International Conference on Signal Processing, 2000. WCCC-ICSP 2000, vol. 3, pp 1647\u20131649 (2000)"},{"issue":"2","key":"796_CR18","doi-asserted-by":"publisher","first-page":"153","DOI":"10.1007\/s10462-011-9208-z","volume":"36","author":"S Ding","year":"2011","unstructured":"Ding, S., Su, C., Yu, J.: An optimizing BP neural network algorithm based on genetic algorithm. Artif. Intell. Rev. 36(2), 153\u2013162 (2011)","journal-title":"Artif. Intell. Rev."},{"issue":"2","key":"796_CR19","doi-asserted-by":"crossref","first-page":"976","DOI":"10.1016\/j.amc.2006.07.020","volume":"185","author":"J Yi","year":"2007","unstructured":"Yi, J., Wang, Q., Zhao, D., Wen, J.T.: BP Neural network prediction-based variable-period sampling approach for networked control systems. Appl. Math. Comput. 185(2), 976\u2013988 (2007)","journal-title":"Appl. Math. Comput."},{"key":"796_CR20","volume-title":"Neural Networks: Computational Models and Applications","author":"H Tang","year":"2003","unstructured":"Tang, H., Tan, K.C., Zhang, Y.: Neural Networks: Computational Models and Applications. Wiley, Chichester (2003)"},{"key":"796_CR21","unstructured":"Demuth, H.B., Beale, M.H., De Jess, O., Hagan, M.T.: Neural Network Design, Martin Hagan (2014)"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-018-0796-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-018-0796-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-018-0796-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,10,28]],"date-time":"2020-10-28T23:14:28Z","timestamp":1603926868000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-018-0796-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,3,3]]},"references-count":21,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,4]]}},"alternative-id":["796"],"URL":"https:\/\/doi.org\/10.1007\/s10846-018-0796-6","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,3,3]]},"assertion":[{"value":"12 April 2017","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 February 2018","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"3 March 2018","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}