{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T23:35:57Z","timestamp":1774481757441,"version":"3.50.1"},"reference-count":52,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T00:00:00Z","timestamp":1685577600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,6,1]],"date-time":"2023-06-01T00:00:00Z","timestamp":1685577600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2023,6]]},"DOI":"10.1007\/s10846-023-01868-5","type":"journal-article","created":{"date-parts":[[2023,6,5]],"date-time":"2023-06-05T10:02:47Z","timestamp":1685959367000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Swarm Intelligence Based Nonlinear Friction and Dynamic Parameters Identification for a 6-DOF Robotic Manipulator"],"prefix":"10.1007","volume":"108","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3588-0354","authenticated-orcid":false,"given":"Oguzhan","family":"Karahan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hasan","family":"Karci","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2023,6,5]]},"reference":[{"issue":"5","key":"1868_CR1","doi-asserted-by":"publisher","first-page":"414","DOI":"10.1016\/j.rcim.2010.03.013","volume":"26","author":"J Wu","year":"2010","unstructured":"Wu, J., Wang, J., You, Z.: An overview of dynamic parameter identification of robots. Robot. Comput.-Integrat. Manuf. 26(5), 414\u2013419 (2010)","journal-title":"Robot. Comput.-Integrat. Manuf."},{"key":"1868_CR2","doi-asserted-by":"publisher","first-page":"109773","DOI":"10.1016\/j.automatica.2021.109773","volume":"131","author":"T Lee","year":"2021","unstructured":"Lee, T., Lee, B.D., Park, F.C.: Optimal excitation trajectories for mechanical systems identification. Automatica 131, 109773 (2021). https:\/\/doi.org\/10.1016\/j.automatica.2021.109773","journal-title":"Automatica"},{"issue":"3","key":"1868_CR3","doi-asserted-by":"publisher","first-page":"368","DOI":"10.1109\/70.56655","volume":"6","author":"M Gautier","year":"1990","unstructured":"Gautier, M., Khalil, W.: Direct calculation of minimum set of inertial parameters of serial robots. IEEE Trans. Robot. Autom. 6(3), 368\u2013373 (1990)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"3","key":"1868_CR4","doi-asserted-by":"publisher","first-page":"312","DOI":"10.1109\/70.56663","volume":"6","author":"H Mayeda","year":"1990","unstructured":"Mayeda, H., Yoshida, K., Osuka, K.: Base parameters of manipulator dynamic models. IEEE Trans. Robot. Autom. 6(3), 312\u2013321 (1990)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"1868_CR5","doi-asserted-by":"publisher","first-page":"21","DOI":"10.1016\/j.rcim.2014.06.004","volume":"31","author":"J Jin","year":"2015","unstructured":"Jin, J., Gans, N.: Parameter identification for industrial robots with a fast and robust trajectory design approach. Robot. Comput.-Integrat. Manuf. 31, 21\u201329 (2015)","journal-title":"Robot. Comput.-Integrat. Manuf."},{"key":"1868_CR6","doi-asserted-by":"publisher","unstructured":"Madsen, E., Rosenlund, O. S., Brandt, D., Zhang, X.: Comprehensive modeling and identification of nonlinear joint dynamics for collaborative industrial robot manipulators. Control Eng. Pract.\u00a0101\u00a0(2020)\u00a0\u00a0https:\/\/doi.org\/10.1016\/j.conengprac.2020.104462","DOI":"10.1016\/j.conengprac.2020.104462"},{"key":"1868_CR7","doi-asserted-by":"publisher","first-page":"102142","DOI":"10.1016\/j.rcim.2021.102142","volume":"71","author":"RA Boby","year":"2021","unstructured":"Boby, R.A., Klimchik, A.: Combination of geometric and parametric approaches for kinematic identification of an industrial robot. Robot. Comput.-Integrat. Manufact. 71, 102142 (2021). https:\/\/doi.org\/10.1016\/j.rcim.2021.102142","journal-title":"Robot. Comput.-Integrat. Manufact."},{"key":"1868_CR8","doi-asserted-by":"publisher","first-page":"104504","DOI":"10.1016\/j.mechmachtheory.2021.104504","volume":"167","author":"E Id\u00e0","year":"2022","unstructured":"Id\u00e0, E., Briot, S., Carricato, M.: Identification of the inertial parameters of underactuated cable-driven parallel robots. Mech. Mach. Theory 167, 104504 (2022). https:\/\/doi.org\/10.1016\/j.mechmachtheory.2021.104504","journal-title":"Mech. Mach. Theory"},{"key":"1868_CR9","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s11044-013-9403-6","volume":"33","author":"S Briot","year":"2015","unstructured":"Briot, S., Gautier, M.: Global identification of joint drive gains and dynamic parameters of parallel robots. Multibody Syst. Dyn. 33, 3\u201326 (2015)","journal-title":"Multibody Syst. Dyn."},{"issue":"9","key":"1868_CR10","first-page":"740","volume":"231","author":"S Jiang","year":"2017","unstructured":"Jiang, S., Jiang, M., Cao, Y., Hua, D., Wu, H., Ding, Y., Chen, B.: A typical dynamic parameter identification method of 6-degree-of-freedom industrial robot. Proc. Inst. Mech. Eng. I: J. Syst. Control Eng. 231(9), 740\u2013752 (2017)","journal-title":"Proc. Inst. Mech. Eng. I: J. Syst. Control Eng."},{"issue":"8","key":"1868_CR11","doi-asserted-by":"publisher","first-page":"701","DOI":"10.1177\/027836402761412449","volume":"21","author":"J Swevers","year":"2002","unstructured":"Swevers, J., Verdonck, W., Naumer, B., Pieters, S., Biber, E.: An experimental robot load identification method for industrial application. Int. J. Robot. Res. 21(8), 701\u2013712 (2002)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"1868_CR12","doi-asserted-by":"publisher","first-page":"428","DOI":"10.1109\/TCST.2012.2185697","volume":"21","author":"M Gautier","year":"2013","unstructured":"Gautier, M., Janot, A., Vandanjon, P.: A new closed-loop output error method for parameter identification of robot dynamics. IEEE Trans. Control Syst. Technol. 21(2), 428\u2013444 (2013)","journal-title":"IEEE Trans. Control Syst. Technol."},{"issue":"12","key":"1868_CR13","doi-asserted-by":"publisher","first-page":"1361","DOI":"10.1016\/S0967-0661(01)00105-8","volume":"9","author":"G Gautier","year":"2001","unstructured":"Gautier, G., Poignet, Ph.: Extended Kalman filtering and weighted least squares dynamic identification of robot. Control. Eng. Pract. 9(12), 1361\u20131372 (2001)","journal-title":"Control. Eng. Pract."},{"key":"1868_CR14","doi-asserted-by":"crossref","unstructured":"Joukov, V., Bonnet, V., Venture, G., Kuli\u0107, D.: Constrained dynamic parameter estimation using the Extended Kalman Filter. 2015 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3654\u20133659 (2015)","DOI":"10.1109\/IROS.2015.7353888"},{"issue":"10","key":"1868_CR15","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3390\/s19102248","volume":"19","author":"J Jia","year":"2019","unstructured":"Jia, J., Zhang, M., Zang, X., Zhang, H., Zhao, J.: Dynamic parameter identification for a manipulator with joint torque sensors based on an improved experimental design. Sensors 19(10), 1\u201317 (2019)","journal-title":"Sensors"},{"key":"1868_CR16","doi-asserted-by":"crossref","unstructured":"Bona, B., Curatella, A.: Identification of industrial robot parameters for advanced model-based controllers design.\u00a0Proceedings of the 2005 IEEE International Conference on Robotics and Automation, pp. 1681\u20131686 (2005)","DOI":"10.1109\/ROBOT.2005.1570355"},{"issue":"2","key":"1868_CR17","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1177\/027836402760475379","volume":"21","author":"MM Olsen","year":"2002","unstructured":"Olsen, M.M., Swevers, J., Verdonck, W.: Maximum likelihood identification of a dynamic robot model: Implementation issues. Int. J. Robot. Res. 21(2), 89\u201396 (2002)","journal-title":"Int. J. Robot. Res."},{"key":"1868_CR18","doi-asserted-by":"publisher","first-page":"719","DOI":"10.1016\/j.compeleceng.2016.09.004","volume":"67","author":"C Urrea","year":"2018","unstructured":"Urrea, C., Pascal, J.: Design, simulation, comparison and evaluation of parameter identification methods for an industrial robot. Comput. Electr. Eng. 67, 719\u2013806 (2018)","journal-title":"Comput. Electr. Eng."},{"issue":"9","key":"1868_CR19","doi-asserted-by":"publisher","first-page":"4303","DOI":"10.3390\/app11094303","volume":"11","author":"Q Leboutet","year":"2021","unstructured":"Leboutet, Q., Roux, J., Janot, A., Guadarrama-Olvera, J.R., Cheng, G.: Inertial parameter identification in robotics: a survey. Appl. Sci. 11(9), 4303 (2021). https:\/\/doi.org\/10.3390\/app11094303","journal-title":"Appl. Sci."},{"key":"1868_CR20","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1016\/j.advengsoft.2014.08.009","volume":"78","author":"RD Al-Dabbagh","year":"2014","unstructured":"Al-Dabbagh, R.D., Kinsheel, A., Mekhilef, S., Baba, M.S., Shamshirband, S.: System identification and control of robot manipulator based on fuzzy adaptive differential evolution algorithm. Adv. Eng. Softw. 78, 60\u201366 (2014)","journal-title":"Adv. Eng. Softw."},{"issue":"4","key":"1868_CR21","doi-asserted-by":"publisher","first-page":"4136","DOI":"10.1016\/j.eswa.2010.09.076","volume":"38","author":"Z Bing\u00fcl","year":"2011","unstructured":"Bing\u00fcl, Z., Karahan, O.: Dynamic identification of Staubli RX-60 robot using PSO and LS methods. Expert Syst. Appl. 38(4), 4136\u20134149 (2011)","journal-title":"Expert Syst. Appl."},{"issue":"4","key":"1868_CR22","doi-asserted-by":"publisher","first-page":"490","DOI":"10.1108\/AA-08-2016-106","volume":"37","author":"JJ Yuan","year":"2017","unstructured":"Yuan, J.J., Wan, W., Fu, X.J., Wang, S., Wang, N.: A novel LLSDPso method for nonlinear dynamic parameter identification. Assem. Autom. 37(4), 490\u2013498 (2017)","journal-title":"Assem. Autom."},{"key":"1868_CR23","doi-asserted-by":"publisher","first-page":"140","DOI":"10.1049\/iet-csr.2020.0023","volume":"2","author":"JL Wang","year":"2020","unstructured":"Wang, J.L., Li, Y., An, A.: Dynamic parameter identification of upper-limb rehabilitation robot system based on variable parameter particle swarm optimization. IET Cyber-Syst. Robot. 2, 140\u2013148 (2020)","journal-title":"IET Cyber-Syst. Robot."},{"key":"1868_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1155\/2015\/471478","volume":"2015","author":"L Ding","year":"2015","unstructured":"Ding, L., Wu, H., Yao, Y., Yang, Y.: Dynamic model identification for 6-DOF industrial robots. J. Robot. 2015, 1\u20139 (2015)","journal-title":"J. Robot."},{"key":"1868_CR25","doi-asserted-by":"publisher","first-page":"102684","DOI":"10.1016\/j.advengsoft.2019.05.006","volume":"135","author":"L Zhang","year":"2019","unstructured":"Zhang, L., Wang, J., Chen, J., Chen, K., Lin, B., Xu, F.: Dynamic modeling for a 6-DOF robot manipulator based on a centrosymmetric static friction model and whale genetic optimization algorithm. Adv. Eng. Softw. 135, 102684 (2019). https:\/\/doi.org\/10.1016\/j.advengsoft.2019.05.006","journal-title":"Adv. Eng. Softw."},{"issue":"3","key":"1868_CR26","doi-asserted-by":"publisher","first-page":"83","DOI":"10.3390\/robotics10030083","volume":"10","author":"A Raviola","year":"2021","unstructured":"Raviola, A., Guida, R., De Martin, A., Pastorelli, S., Mauro, S., Sorli, M.: Effects of temperature and mounting configuration on the dynamic parameters identification of industrial robots. Robotics 10(3), 83 (2021). https:\/\/doi.org\/10.3390\/robotics10030083","journal-title":"Robotics"},{"key":"1868_CR27","unstructured":"Kovincic, N.I., M\u00fcller, A., Gattringer, H., Weyrer, M., Schlotzhauer, A., Brandst\u00f6tter, M.: Dynamic parameter identification of the Universal Robots UR5. Proceedings of the Joint ARW & OAGM Workshop, pp. 44\u201353 (2019)"},{"key":"1868_CR28","doi-asserted-by":"publisher","first-page":"138102","DOI":"10.1109\/ACCESS.2020.3012196","volume":"8","author":"S Wang","year":"2020","unstructured":"Wang, S., Shao, X., Yang, L., Liu, N.: deep learning aided dynamic parameter identification of 6-DOF robot manipulators. IEEE Access 8, 138102\u2013138116 (2020)","journal-title":"IEEE Access"},{"key":"1868_CR29","doi-asserted-by":"crossref","unstructured":"Shao, X., Wang, S., Yang, L., Liu, N.: Research on Feedforward control based on robot dynamics parameters identification.\u00a0IEEE International Conference on Mechatronics and Automation (ICMA), pp. 973\u2013978 (2020)","DOI":"10.1109\/ICMA49215.2020.9233788"},{"key":"1868_CR30","volume-title":"Advances in Service and Industrial Robotics. Mechanisms and Machine Science","author":"A Raviola","year":"2021","unstructured":"Raviola, A., De Martin, A., Guida, R., Pastorelli, S., Mauro, S., Sorli, M.: Identification of a UR5 collaborative robot dynamic parameters. In: Zeghloul, S., Laribi, M.A., Sandoval, J. (eds.) Advances in Service and Industrial Robotics. Mechanisms and Machine Science, vol. 102. Springer, Cham (2021)"},{"key":"1868_CR31","volume-title":"Robot Modeling and Control","author":"MW Spong","year":"2005","unstructured":"Spong, M.W., Hutchinson, S., Vidyasagar, M.: Robot Modeling and Control, 1st edn. Wiley, Hoboken (2005)","edition":"1"},{"key":"1868_CR32","doi-asserted-by":"crossref","unstructured":"Bittencourt, A.C., Wernholt, E., Sander-Tavallaey, S., Brog\u00e5rdh, T.: An extended friction model to capture load and temperature effects in robot joints.\u00a0Proc. IEEE\/RSJ Int. Conf. Intell. Robots Syst., pp. 6161\u20136167 (2010)","DOI":"10.1109\/IROS.2010.5650358"},{"key":"1868_CR33","doi-asserted-by":"crossref","unstructured":"Fotuhi, M.J., Hazem, Z.B.,\u00a0 Bingul, Z.: Adaptive joint friction estimation model for laboratory 2 DOF double dual twin rotor aerodynamical helicopter system. Proc. 6th Int. Conf. Control Eng. Inf. Technol. (CEIT), \u0130stanbul, Turkey, pp. 25\u201327 (2018)","DOI":"10.1109\/CEIT.2018.8751809"},{"key":"1868_CR34","doi-asserted-by":"publisher","unstructured":"Libin, Z., Jiacai, W., Jiaoliao, C., Kang, C., Bangyang, L., Fang, X.: Dynamic modeling for a 6-DOF robot manipulator based on a centrosymmetric static friction model and whale genetic optimization algorithm.\u00a0Adv. Eng. Softw.\u00a0135\u00a0(2019) https:\/\/doi.org\/10.1016\/j.advengsoft.2019.05.006","DOI":"10.1016\/j.advengsoft.2019.05.006"},{"key":"1868_CR35","doi-asserted-by":"publisher","unstructured":"Kennedy, J., Eberhart, R.C.: Particle swarm optimization. Proceedings of ICNN'95 - International Conference on Neural Networks, pp.\u00a01942\u20131948\u00a0(1995).\u00a0https:\/\/doi.org\/10.1109\/ICNN.1995.488968","DOI":"10.1109\/ICNN.1995.488968"},{"key":"1868_CR36","doi-asserted-by":"publisher","unstructured":"Yang, X.S., Deb, S.: Cuckoo search via Levy flights. 2009 World Congress on Nature & Biologically Inspired Computing (NaBIC), pp. 210\u2013214 (2009) https:\/\/doi.org\/10.1109\/NABIC.2009.5393690","DOI":"10.1109\/NABIC.2009.5393690"},{"key":"1868_CR37","doi-asserted-by":"crossref","unstructured":"Yang, X.S., Deb, S.: Engineering optimization by cuckoo search.\u00a0Int. J. Math. Modell. Numer. Optimiz. 1(4), 330\u2013343, 2010. arXiv:1005.2908","DOI":"10.1504\/IJMMNO.2010.035430"},{"key":"1868_CR38","doi-asserted-by":"crossref","unstructured":"Soneji, H., Sanghvi, R.C.: Towards the improvement of Cuckoo search algorithm. World Congress on Information and Communication Technologies (WICT), pp. 878\u2013883 (2012)","DOI":"10.1109\/WICT.2012.6409199"},{"key":"1868_CR39","doi-asserted-by":"publisher","first-page":"46","DOI":"10.1016\/j.advengsoft.2013.12.007","volume":"69","author":"S Mirjalili","year":"2014","unstructured":"Mirjalili, S., Mirjalili, S.M., Lewis, A.: Grey wolf optimizer. Adv. Eng. Softw. 69, 46\u201361 (2014)","journal-title":"Adv. Eng. Softw."},{"key":"1868_CR40","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1016\/j.asej.2020.07.011","volume":"12","author":"MA Shaheen","year":"2021","unstructured":"Shaheen, M.A., Hasanien, H.M., Alkuhayli, A.: A novel hybrid GWO-PSO optimization technique for optimal reactive power dispatch problem solution. Ain Shams Eng. J. 12, 621\u2013630 (2021). https:\/\/doi.org\/10.1016\/j.asej.2020.07.011","journal-title":"Ain Shams Eng. J."},{"key":"1868_CR41","doi-asserted-by":"publisher","first-page":"116","DOI":"10.1016\/j.rser.2017.02.043","volume":"74","author":"M Nazari-Heris","year":"2017","unstructured":"Nazari-Heris, M., Mohammadi-Ivatloo, B., Gharehpetian, G.: Short-term scheduling of hydro-based power plants considering application of heuristic algorithms: a comprehensive review. Renew Sustain. Energy Rev. 74, 116\u2013129 (2017)","journal-title":"Renew Sustain. Energy Rev."},{"key":"1868_CR42","doi-asserted-by":"crossref","unstructured":"Ting, T., Yang, X.-S., Cheng, S., Huang, K.: Hybrid metaheuristic algorithms: past, present, and future. Recent Advances in Swarm Intelligence and Evolutionary Computation, pp. 71\u201383. Springer (2015)","DOI":"10.1007\/978-3-319-13826-8_4"},{"key":"1868_CR43","doi-asserted-by":"publisher","first-page":"47","DOI":"10.1016\/j.swevo.2016.03.001","volume":"29","author":"U Mlakar","year":"2016","unstructured":"Mlakar, U., Fister, I., Fister, I.: Hybrid self-adaptive cuckoo search for global optimization. Swarm Evol. Comput. 29, 47\u201372 (2016). https:\/\/doi.org\/10.1016\/j.swevo.2016.03.001","journal-title":"Swarm Evol. Comput."},{"issue":"10","key":"1868_CR44","doi-asserted-by":"publisher","first-page":"1902","DOI":"10.1049\/iet-gtd.2019.0801","volume":"14","author":"HY Mahmoud","year":"2019","unstructured":"Mahmoud, H.Y., Hasanien, H.M., Besheer, A.H., Abdelaziz, A.Y.: Hybrid cuckoo search algorithm and grey wolf optimizer based optimal control strategy for performance enhancement of HVDC based offshore wind farms. IET Gener. Transm. Distrib. 14(10), 1902\u20131911 (2019). https:\/\/doi.org\/10.1049\/iet-gtd.2019.0801","journal-title":"IET Gener. Transm. Distrib."},{"key":"1868_CR45","doi-asserted-by":"publisher","unstructured":"Devarapalli, R., Bhattacharyya, B., Sinha, N.K.: An intelligent EGWO\u2010SCA\u2010CS algorithm for PSS parameter tuning under system uncertainties. Int. J. Intell. Syst.\u00a0 35(10),\u00a0 1520\u20131569. https:\/\/doi.org\/10.1002\/int.22263. Wiley","DOI":"10.1002\/int.22263"},{"key":"1868_CR46","doi-asserted-by":"publisher","first-page":"107061","DOI":"10.1016\/j.asoc.2020.107061","volume":"101","author":"X Zhang","year":"2021","unstructured":"Zhang, X., Lin, Q., Mao, W., Liu, S., Dou, Z., Liu, G.: Hybrid particle swarm and grey wolf optimizer and its application to clustering optimization. Appl. Soft Comput. 101, 107061 (2021). https:\/\/doi.org\/10.1016\/j.asoc.2020.107061","journal-title":"Appl. Soft Comput."},{"key":"1868_CR47","doi-asserted-by":"publisher","first-page":"63","DOI":"10.1016\/j.engappai.2017.10.02","volume":"68","author":"W Long","year":"2018","unstructured":"Long, W., Jiao, J., Liang, X., Tang, M.: An exploration-enhanced grey wolf optimizer to solve high-dimensional numerical optimization. Eng. Appl. Artif. Intell. 68, 63\u201380 (2018). https:\/\/doi.org\/10.1016\/j.engappai.2017.10.02","journal-title":"Eng. Appl. Artif. Intell."},{"key":"1868_CR48","doi-asserted-by":"publisher","DOI":"10.1016\/j.asoc.2018.10.044","author":"A Saxena","year":"2018","unstructured":"Saxena, A., Kumar, R., Das, S.: \u03b2-chaotic map enabled grey wolf optimizer. Appl. Soft Comput. (2018). https:\/\/doi.org\/10.1016\/j.asoc.2018.10.044","journal-title":"Appl. Soft Comput."},{"key":"1868_CR49","doi-asserted-by":"publisher","DOI":"10.1016\/j.swevo.2018.01.001","author":"S Gupta","year":"2018","unstructured":"Gupta, S., Deep, K.: A novel random walk grey wolf optimizer. Swarm Evol. Comput. (2018). https:\/\/doi.org\/10.1016\/j.swevo.2018.01.001","journal-title":"Swarm Evol. Comput."},{"key":"1868_CR50","doi-asserted-by":"publisher","first-page":"138102","DOI":"10.1109\/ACCESS.2020.3012196","volume":"8","author":"S Wang","year":"2020","unstructured":"Wang, S., Shao, X., Yang, L., Liu, N.: Deep learning aided dynamic parameter identification of 6-DOF robot manipulators. IEEE 8, 138102\u2013138116 (2020). https:\/\/doi.org\/10.1109\/ACCESS.2020.3012196","journal-title":"IEEE"},{"key":"1868_CR51","doi-asserted-by":"crossref","unstructured":"Chen, D., Zhang, B., Wang, M.: Cartesian space trajectory planning on 7-DOF manipulator. IEEE Conference on Robotics and Biomimetics Zhuhai, China, December 6\u20139 (2015)","DOI":"10.1109\/ROBIO.2015.7418892"},{"issue":"5","key":"1868_CR52","doi-asserted-by":"publisher","first-page":"730","DOI":"10.1109\/70.631234","volume":"13","author":"J Swevers","year":"1997","unstructured":"Swevers, J., Ganseman, C., Tukel, D.B., de Schutter, J., Brussel, H.V.: Optimal robot excitation and identification. IEEE Trans. Robot. Autom. 13(5), 730\u2013740 (1997)","journal-title":"IEEE Trans. Robot. Autom."}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01868-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-023-01868-5\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-023-01868-5.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,10,21]],"date-time":"2024-10-21T20:13:40Z","timestamp":1729541620000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-023-01868-5"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6]]},"references-count":52,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2023,6]]}},"alternative-id":["1868"],"URL":"https:\/\/doi.org\/10.1007\/s10846-023-01868-5","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6]]},"assertion":[{"value":"16 August 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 April 2023","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 June 2023","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"19"}}