{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,3,29]],"date-time":"2022-03-29T09:56:38Z","timestamp":1648547798552},"reference-count":26,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2009,3,9]],"date-time":"2009-03-09T00:00:00Z","timestamp":1236556800000},"content-version":"unspecified","delay-in-days":4572,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1996,9]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>A novel off-line technique for automatic calibration of kinematic parameters for hydraulic manipulators is presented. Hydraulically actuated manipulators have joints which are always powered and, unlike conventional robots, may not have conventional joint sensors to exploit in the calibration procedure. Instead, our approach employs an external three-dimensional linkage, termed \u201cthe calibrator\u201d, which has sufficient number of joints with corresponding sensors. One end of the calibrator is grasped by the manipulator's end effector while the other end is attached to a passive spherical joint fixed to the world coordinate system. The mobile closed kinematic chain thus formed has the added advantage of eliminating the explicit measurement of the manipulator's endpoint location. A sequential identification technique that uses a least squares numerical search algorithm has been developed based on link-by-link movement of the manipulator. Simulation and experimental calibration results on a typical mobile hydraulic manipulator are reported in this paper, which show that the proposed technique is globally stable, and potentially fast, inexpensive, and easy to apply on site.<\/jats:p>","DOI":"10.1017\/s0263574700020026","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:09:54Z","timestamp":1236690594000},"page":"541-551","source":"Crossref","is-referenced-by-count":2,"title":["Kinematic Calibration of Industrial Hydraulic Manipulators"],"prefix":"10.1017","volume":"14","author":[{"given":"M.","family":"Khoshzaban","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"F.","family":"Sassani","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"P. D.","family":"Lawrencet","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700020026_ref007","unstructured":"7. Khoshzaban M. , \u201cKinematic and Dynamic Calibration of Hydraulically Actuated Manipulators\u201d M.Sc. Thesis (University of British Columbia, Vancouver, BC 1992)."},{"key":"S0263574700020026_ref011","first-page":"227\u2013236","article-title":"Robot Performance Measurements Using Automatic Laser Tracking Techniques","volume":"2","author":"Kau","year":"1985","journal-title":"Robotics and Computer Integrated Manufacturing"},{"key":"S0263574700020026_ref024","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(88)90107-3"},{"key":"S0263574700020026_ref005","first-page":"207\u2013242","volume-title":"The Robotics Review","author":"Khatib","year":"1989"},{"key":"S0263574700020026_ref014","unstructured":"14. Bennet D.J. and Hollerbach J.M. , \u201cIdentifying the Kinematics of Robots and Their Taska\u201d Proceedings, IEEE International Conference on Robotics and Automation, Tokyo, Japan (1989) pp. 580\u2013586."},{"key":"S0263574700020026_ref020","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087054"},{"key":"S0263574700020026_ref002","unstructured":"2. Fukuda T. , Fujisawa Y. , Kosuge K. , Arai F. , Muro E. , Hoshino H. , Miyazaki T. , Otube K. and Uehara K. , \u201cManipulator\/Vehicle System for Man-Robot Cooperation\u201d Proceedings, IEEE International Conference on Robotics and Automation, Nice, France, (1992) pp. 74\u201379."},{"key":"S0263574700020026_ref016","first-page":"539\u2013552","volume-title":"Experimental Robotics 1-The First International Symposium","author":"Bennet","year":"1990"},{"key":"S0263574700020026_ref012","first-page":"191\u2013198","volume-title":"Robotics Research: 4th International Symposium","author":"Hollerbach","year":"1988"},{"key":"S0263574700020026_ref010","unstructured":"10. Stone H.W. and Sanderson A.C. , \u201cA Prototype Arm Signature Identification System\u201d Proceedings, IEEE International Conference on Robotics and Automation, Raleigh, NC (1987) pp. 175\u2013182."},{"key":"S0263574700020026_ref004","first-page":"377\u2013386","article-title":"An Overview of Robot Calibration","author":"Roth","year":"1987","journal-title":"IEEE Journal of Robotics and Automation"},{"key":"S0263574700020026_ref018","doi-asserted-by":"publisher","DOI":"10.1109\/70.105381"},{"key":"S0263574700020026_ref022","unstructured":"22. Judd R.P. and Knasinski A.B. , \u201cA Technique to Calibrate Industrial Robots with Experimental Verification\u201d Proceedings, IEEE International Conference on Robotics and Automation, Raleigh, NC (1987) pp. 251\u2013357."},{"key":"S0263574700020026_ref003","unstructured":"3. 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Veitschegger W.K. and Wu C.H. , \u201cA Method for Calibrating and Compensating Robot Kinematic Error\u201d Proceedings, IEEE International Conference on Robotics and Automation, Raleigh, NC (1987) pp. 39\u201344."},{"key":"S0263574700020026_ref006","volume-title":"Fundamentals of Manipulator Calibration","author":"Mooring","year":"1991"},{"key":"S0263574700020026_ref021","unstructured":"21. Chen J. and Chao L.M. , \u201cPosition in Error Analysis for Robot Manipulators with All-Rotary Joints\u201d Proceedings, IEEE Conference on Robotics and Automation, San Francisco (1986) pp. 1011\u20131016."},{"key":"S0263574700020026_ref013","volume-title":"Model-Based Control of a Robot Manipulator","author":"An","year":"1988"},{"key":"S0263574700020026_ref017","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143737"},{"key":"S0263574700020026_ref023","unstructured":"23. Becquet M. , \u201cAnalysis of Flexibility Sources in Robot Structures\u201d, Proceddings IMAC\/IFAC International Symposium on Modeling and Simulation of Distributed Parameter Systems, Hiroshima, Japan (1987) pp. 419\u2013424."},{"key":"S0263574700020026_ref001","unstructured":"1. Mulligan I.J. , Mackworth A.K. and Lawrence P.D. , \u201cA Model-Based Vision System for Manipulator Position Sensing\u201d Proceedings, Workshop on Interpretation of 3-D Scenes, Austin, TX (1989) pp. 168\u2013193."},{"key":"S0263574700020026_ref008","volume-title":"Recent Trends in Robotics: Modeling, Control, and Education","author":"Hayati","year":"1986"},{"key":"S0263574700020026_ref019","unstructured":"19. Hayati S.A. , \u201cRobot Arm Geometric Link Parameter Estimation\u201d Proceedings, 22nd IEEE Conference on Decision and Control, San Antonio, Texas (1983) pp. 1477\u20131483."},{"key":"S0263574700020026_ref015","first-page":"597\u2013606","article-title":"Autonomous Calibration of Single-Loop Closed Kinematic Chains Formed by Manipulators with Passive Endpoint Constraints","volume":"7","author":"Bennet","year":"1991","journal-title":"IEEE Transactions on Robotics and Automation"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700020026","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,12]],"date-time":"2019-05-12T20:41:43Z","timestamp":1557693703000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700020026\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1996,9]]},"references-count":26,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1996,9]]}},"alternative-id":["S0263574700020026"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700020026","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1996,9]]}}}