{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:09:04Z","timestamp":1753884544165},"reference-count":44,"publisher":"Springer Science and Business Media LLC","issue":"10","license":[{"start":{"date-parts":[[2019,8,21]],"date-time":"2019-08-21T00:00:00Z","timestamp":1566345600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2019,8,21]],"date-time":"2019-08-21T00:00:00Z","timestamp":1566345600000},"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":["Sci. China Inf. Sci."],"published-print":{"date-parts":[[2019,10]]},"DOI":"10.1007\/s11432-018-9726-3","type":"journal-article","created":{"date-parts":[[2019,9,4]],"date-time":"2019-09-04T11:03:50Z","timestamp":1567595030000},"update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Parameter estimation survey for multi-joint robot dynamic calibration case study"],"prefix":"10.1007","volume":"62","author":[{"given":"Shaolin","family":"Zhang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Shuo","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Fengshui","family":"Jing","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Min","family":"Tan","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2019,8,21]]},"reference":[{"key":"9726_CR1","first-page":"749","volume-title":"Proceedings of the 9th International Conference on Advanced Robotics, Kyongju","author":"R Jamisola","year":"1999","unstructured":"Jamisola R. Dynamics identification and control of an industrial robot. In: Proceedings of the 9th International Conference on Advanced Robotics, Kyongju, 1999. 749\u2013754"},{"key":"9726_CR2","doi-asserted-by":"publisher","first-page":"113","DOI":"10.1007\/978-3-319-32552-1_6","volume-title":"Springer Handbook of Robotics","author":"J Hollerbach","year":"2016","unstructured":"Hollerbach J, Khalil W, Gautier M. Model identification. In: Springer Handbook of Robotics. Berlin: Springer, 2016. 113\u2013138"},{"key":"9726_CR3","first-page":"1108","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"M van Damme","year":"2011","unstructured":"van Damme M, Beyl P, Vanderborght B, et al. Estimating robot end-effector force from noisy actuator torque measurements. In: Proceedings of IEEE International Conference on Robotics and Automation, Shanghai, 2011. 1108\u20131113"},{"key":"9726_CR4","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1109\/CCA.1995.555741","volume-title":"Proceedings of International Conference on Control Applications, Albany","author":"J Richalet","year":"1995","unstructured":"Richalet J, Fiani P. The global approach in identification protocol optimization. In: Proceedings of International Conference on Control Applications, Albany, 1995. 423\u2013431"},{"key":"9726_CR5","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 O. A new closed-loop output error method for parameter identification of robot dynamics. IEEE Trans Contr Syst Technol, 2013, 21: 428\u2013444","journal-title":"IEEE Trans Contr Syst Technol"},{"key":"9726_CR6","doi-asserted-by":"publisher","first-page":"132","DOI":"10.1109\/TCST.2013.2246163","volume":"22","author":"A Janot","year":"2014","unstructured":"Janot A, Vandanjon P O, Gautier M. A generic instrumental variable approach for industrial robot identification. IEEE Trans Contr Syst Technol, 2014, 22: 132\u2013145","journal-title":"IEEE Trans Contr Syst Technol"},{"key":"9726_CR7","doi-asserted-by":"publisher","first-page":"661","DOI":"10.1080\/00207179.2016.1230231","volume":"90","author":"A Montazeri","year":"2017","unstructured":"Montazeri A, West C, Monk S D, et al. Dynamic modelling and parameter estimation of a hydraulic robot manipulator using a multi-objective genetic algorithm. Int J Control, 2017, 90: 661\u2013683","journal-title":"Int J Control"},{"key":"9726_CR8","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1109\/LRA.2017.2729659","volume":"3","author":"P M Wensing","year":"2018","unstructured":"Wensing P M, Kim S, Slotine J J E. Linear matrix inequalities for physically consistent inertial parameter identification: a statistical perspective on the mass distribution. IEEE Robot Autom Lett, 2018, 3: 60\u201367","journal-title":"IEEE Robot Autom Lett"},{"key":"9726_CR9","doi-asserted-by":"publisher","first-page":"931","DOI":"10.1177\/0278364913514870","volume":"33","author":"C D Sousa","year":"2014","unstructured":"Sousa C D, Cortes\u00e3o R. Physical feasibility of robot base inertial parameter identification: a linear matrix inequality approach. Int J Robot Res, 2014, 33: 931\u2013944","journal-title":"Int J Robot Res"},{"key":"9726_CR10","volume-title":"An Introduction to the Kalman Filter","author":"G Welch","year":"1995","unstructured":"Welch G, Bishop G. An Introduction to the Kalman Filter. Chapel Hill, Technical Report. 1995"},{"key":"9726_CR11","doi-asserted-by":"publisher","first-page":"1361","DOI":"10.1016\/S0967-0661(01)00105-8","volume":"9","author":"M Gautier","year":"2001","unstructured":"Gautier M, Poignet P. Extended Kalman filtering and weighted least squares dynamic identification of robot. Control Eng Practice, 2001, 9: 1361\u20131372","journal-title":"Control Eng Practice"},{"key":"9726_CR12","doi-asserted-by":"publisher","first-page":"4360","DOI":"10.1109\/CDC.2005.1582848","volume-title":"Proceedings of the 44th IEEE Conference Decision Control, Seville","author":"B Bona","year":"2005","unstructured":"Bona B, Indri M. Friction compensation in robotics: an overview. In: Proceedings of the 44th IEEE Conference Decision Control, Seville, 2005. 4360\u20134367"},{"key":"9726_CR13","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1109\/MCS.2007.904659","volume":"27","author":"J Swevers","year":"2007","unstructured":"Swevers J, Verdonck W, Schutter J D. Dynamic model identification for industrial robots. IEEE Control Syst, 2007, 27: 58\u201371","journal-title":"IEEE Control Syst"},{"key":"9726_CR14","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, et al. Dynamic model identification for 6-DOF industrial robots. J Robot, 2015, 2015: 1\u20139","journal-title":"J Robot"},{"key":"9726_CR15","doi-asserted-by":"publisher","first-page":"194","DOI":"10.1109\/TCST.2008.2010501","volume":"18","author":"L Freidovich","year":"2010","unstructured":"Freidovich L, Robertsson A, Shiriaev A, et al. LuGre-model-based friction compensation. IEEE Trans Contr Syst Technol, 2010, 18: 194\u2013200","journal-title":"IEEE Trans Contr Syst Technol"},{"key":"9726_CR16","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1109\/MCS.2008.929425","volume":"28","author":"K J Astrom","year":"2008","unstructured":"Astrom K J, Carlos C C. Revisiting the LuGre friction model. IEEE Control Syst, 2008, 28: 101\u2013114","journal-title":"IEEE Control Syst"},{"key":"9726_CR17","first-page":"1","volume-title":"Proceedings of 2007 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics","author":"N A Bompos","year":"2007","unstructured":"Bompos N A, Artemiadis P K, Oikonomopoulos A S, et al. Modeling, full identification and control of the mitsubishi PA-10 robot arm. In: Proceedings of 2007 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Zurich, 2007. 1\u20136"},{"key":"9726_CR18","doi-asserted-by":"publisher","first-page":"143","DOI":"10.3182\/20060329-3-AU-2901.00016","volume":"39","author":"E Wernholt","year":"2006","unstructured":"Wernholt E, Gunnarsson S. Nonlinear identification of a physically parameterized robot model 1. IFAC Proc Vol, 2006, 39: 143\u2013148","journal-title":"IFAC Proc Vol"},{"key":"9726_CR19","doi-asserted-by":"publisher","first-page":"1889","DOI":"10.1016\/S0020-7683(00)00141-4","volume":"38","author":"M Grotjahn","year":"2001","unstructured":"Grotjahn M, Daemi M, Heimann B. Friction and rigid body identification of robot dynamics. Int J Solids Struct, 2001, 38: 1889\u20131902","journal-title":"Int J Solids Struct"},{"key":"9726_CR20","first-page":"745","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"S D Lee","year":"2016","unstructured":"Lee S D, Ahn K H, Song J B. Torque control based sensorless hand guiding for direct robot teaching. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016. 745\u2013750"},{"key":"9726_CR21","unstructured":"Blumenkranz S J, Prisco G M, DiMaio S P, et al. Force and torque sensing in a surgical robot setup arm. US Patent, 9 895 813, 2018"},{"key":"9726_CR22","first-page":"233","volume":"27","author":"M S Erden","year":"2012","unstructured":"Erden M S, Jonkman J A. Physical human-robot interaction by observing actuator currents. Int J Robot Autom, 2012, 27: 233\u2013243","journal-title":"Int J Robot Autom"},{"key":"9726_CR23","first-page":"5239","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Y Nagamatsu","year":"2017","unstructured":"Nagamatsu Y, Shirai T, Suzuki H, et al. Distributed torque estimation toward low-latency variable stiffness control for gear-driven torque sensorless humanoid. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, 2017. 5239\u20135244"},{"key":"9726_CR24","doi-asserted-by":"publisher","first-page":"167","DOI":"10.3182\/20090909-4-JP-2010.00030","volume":"42","author":"N D Vuong","year":"2009","unstructured":"Vuong N D, Marcelo A H, Li Y P, et al. Improved dynamic identification of robotic manipulators in the linear region of dynamic friction. IFAC Proc Vol, 2009, 42: 167\u2013172","journal-title":"IFAC Proc Vol"},{"key":"9726_CR25","first-page":"51","volume":"6","author":"N D Vuong","year":"2009","unstructured":"Vuong N D, Marcelo A H. Dynamic model identification for industrial robots. Acta Polytech Hung, 2009, 6: 51\u201368","journal-title":"Acta Polytech Hung"},{"key":"9726_CR26","doi-asserted-by":"publisher","first-page":"6863","DOI":"10.1016\/j.ifacol.2017.08.1208","volume":"50","author":"Y R St\u00fcrz","year":"2017","unstructured":"St\u00fcrz Y R, Affolter L M, Smith R S. Parameter identification of the KUKA LBR iiwa robot including constraints on physical feasibility. IFAC-PapersOnLine, 2017, 50: 6863\u20136868","journal-title":"IFAC-PapersOnLine"},{"key":"9726_CR27","doi-asserted-by":"publisher","first-page":"129203","DOI":"10.1007\/s11432-017-9493-7","volume":"61","author":"X J Duan","year":"2018","unstructured":"Duan X J, Zhi J H, Chen H M, et al. Two novel robust adaptive parameter estimation methods with prescribed performance and relaxed PE condition. Sci China Inf Sci, 2018, 61: 129203","journal-title":"Sci China Inf Sci"},{"key":"9726_CR28","first-page":"1","volume-title":"Proceedings of the 16th International Conference on System Theory, Control and Computing","author":"H Jahandideh","year":"2012","unstructured":"Jahandideh H, Namvar M. Use of pso in parameter estimation of robot dynamics; part one: no need for parameterization. In: Proceedings of the 16th International Conference on System Theory, Control and Computing, Sinaia, 2012. 1\u20136"},{"key":"9726_CR29","first-page":"165","volume-title":"Introduction to Robotics: Mechanics and Control","author":"J Craig","year":"2005","unstructured":"Craig J. Introduction to Robotics: Mechanics and Control. 3rd ed. Upper Saddle River: Pearson Education, 2005. 165\u2013200","edition":"3rd ed"},{"key":"9726_CR30","doi-asserted-by":"publisher","first-page":"422","DOI":"10.1109\/ICMECH.2013.6518574","volume-title":"Proceedings of 2013 IEEE International Conference on Mechatronics","author":"N Kammerer","year":"2013","unstructured":"Kammerer N, Garrec P. Dry friction modeling in dynamic identification for robot manipulators: theory and experiments. In: Proceedings of 2013 IEEE International Conference on Mechatronics, Kagawa, 2013. 422\u2013429"},{"key":"9726_CR31","doi-asserted-by":"publisher","first-page":"581","DOI":"10.1007\/978-3-319-65289-4_55","volume-title":"Proceedings of International Conference on Intelligent Robotics and Applications","author":"D W Wu","year":"2017","unstructured":"Wu D W, Liu Q, Xu W J, et al. External force detection for physical human-robot interaction using dynamic model identification. In: Proceedings of International Conference on Intelligent Robotics and Applications, 2017. 581\u2013592"},{"key":"9726_CR32","doi-asserted-by":"publisher","first-page":"042202","DOI":"10.1007\/s11432-017-9215-8","volume":"61","author":"X M Wang","year":"2018","unstructured":"Wang X M, He X K, Bao Y, et al. Parameter estimates of Heston stochastic volatility model with MLE and consistent EKF algorithm. Sci China Inf Sci, 2018, 61: 042202","journal-title":"Sci China Inf Sci"},{"key":"9726_CR33","doi-asserted-by":"publisher","first-page":"1659","DOI":"10.3182\/20120711-3-BE-2027.00058","volume":"45","author":"A Janot","year":"2012","unstructured":"Janot A, Vandanjon P O, Gautier M. Identification of 6 DOF rigid industrial robots with the instrumental variable method. IFAC Proc Vol, 2012, 45: 1659\u20131664","journal-title":"IFAC Proc Vol"},{"key":"9726_CR34","first-page":"2868","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"C D Sousa","year":"2013","unstructured":"Sousa C D, Cortes\u00e3o R. Physically feasible dynamic parameter identification of the 7-DOFWAM robot. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, Tokyo, 2013. 2868\u20132873"},{"key":"9726_CR35","first-page":"440","volume-title":"Proceedings of the 4th International Symposium on Image and Signal Processing and Analysis","author":"I P Marino","year":"2005","unstructured":"Marino I P, Miquez J. Gradient-descent methods for parameter estimation in chaotic systems. In: Proceedings of the 4th International Symposium on Image and Signal Processing and Analysis, Zagreb, 2005. 440\u2013445"},{"key":"9726_CR36","first-page":"109","volume-title":"Genetic Algorithms","author":"C R Reeves","year":"2010","unstructured":"Reeves C R. Genetic Algorithms. Boston: Springer, 2010. 109\u2013139"},{"key":"9726_CR37","doi-asserted-by":"publisher","first-page":"237","DOI":"10.1002\/9780470430583","volume-title":"Bayesian Signal Processing: Classical, Modern, and Particle Filtering Methods","author":"J V Candy","year":"2009","unstructured":"Candy J V. Bayesian Signal Processing: Classical, Modern, and Particle Filtering Methods. Hoboken: John Wiley Sons, 2009. 237\u2013293"},{"key":"9726_CR38","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-Integrated Manuf, 2010, 26: 414\u2013419","journal-title":"Robot Comput-Integrated Manuf"},{"key":"9726_CR39","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1109\/ROBOT.2008.4543308","volume-title":"Proceedings of 2008 IEEE International Conference on Robotics and Automation","author":"Y Sun","year":"2008","unstructured":"Sun Y, Hollerbach J M. Observability index selection for robot calibration. In: Proceedings of 2008 IEEE International Conference on Robotics and Automation, London, 2008. 831\u2013836"},{"key":"9726_CR40","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1109\/CCA.2013.6662756","volume-title":"Proceedings of 2013 IEEE International Conference on Control Applications (CCA)","author":"V Bargsten","year":"2013","unstructured":"Bargsten V, Zometa P, Findeisen R. Modeling, parameter identification and model-based control of a lightweight robotic manipulator. In: Proceedings of 2013 IEEE International Conference on Control Applications (CCA), Hyderabad, 2013. 134\u2013139"},{"key":"9726_CR41","doi-asserted-by":"publisher","first-page":"55","DOI":"10.1002\/1097-4563(200102)18:2<55::AID-ROB1005>3.0.CO;2-O","volume":"18","author":"G Calafiore","year":"2001","unstructured":"Calafiore G, Indri M, Bona B. Robot dynamic calibration: optimal excitation trajectories and experimental parameter estimation. J Robot Syst, 2001, 18: 55\u201368","journal-title":"J Robot Syst"},{"key":"9726_CR42","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, et al. Optimal robot excitation and identification. IEEE Trans Robot Autom, 1997, 13: 730\u2013740","journal-title":"IEEE Trans Robot Autom"},{"key":"9726_CR43","first-page":"907","volume-title":"Proceedings of 1993 IEEE International Conference on Robotics and Automation","author":"C Presse","year":"1993","unstructured":"Presse C, Gautier M. New criteria of exciting trajectories for robot identification. In: Proceedings of 1993 IEEE International Conference on Robotics and Automation, Atlanta, 1993. 907\u2013912"},{"key":"9726_CR44","doi-asserted-by":"publisher","first-page":"024201","DOI":"10.1007\/s11432-017-9285-6","volume":"61","author":"J C Liu","year":"2018","unstructured":"Liu J C, Wu Z X, Yu J Z, et al. Sliding mode fuzzy control-based path-following control for a dolphin robot. Sci China Inf Sci, 2018, 61: 024201","journal-title":"Sci China Inf Sci"}],"container-title":["Science China Information Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-018-9726-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11432-018-9726-3\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11432-018-9726-3.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,4,13]],"date-time":"2023-04-13T11:20:39Z","timestamp":1681384839000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11432-018-9726-3"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,8,21]]},"references-count":44,"journal-issue":{"issue":"10","published-print":{"date-parts":[[2019,10]]}},"alternative-id":["9726"],"URL":"https:\/\/doi.org\/10.1007\/s11432-018-9726-3","relation":{},"ISSN":["1674-733X","1869-1919"],"issn-type":[{"value":"1674-733X","type":"print"},{"value":"1869-1919","type":"electronic"}],"subject":[],"published":{"date-parts":[[2019,8,21]]},"assertion":[{"value":"29 September 2018","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"25 October 2018","order":2,"name":"revised","label":"Revised","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"12 December 2018","order":3,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 August 2019","order":4,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}],"article-number":"202203"}}