{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,2]],"date-time":"2026-07-02T17:24:00Z","timestamp":1783013040355,"version":"3.54.6"},"reference-count":24,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[2013,8,9]],"date-time":"2013-08-09T00:00:00Z","timestamp":1376006400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2014,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The absolute accuracy of a small industrial robot is improved using a 30-parameter calibration model. The error model takes into account a full kinematic calibration and five compliance parameters related to the stiffness in joints 2, 3, 4, 5, and 6. The linearization of the Jacobian is performed to iteratively find the modeled error parameters. Two coordinate measurement systems are used independently: a laser tracker and an optical CMM. An optimized end-effector is developed specifically for each measurement system. The robot is calibrated using fewer than 50 configurations and the calibration efficiency validated in 1000 configurations using either the laser tracker or the optical CMM. A telescopic ballbar is also used for validation. The results show that the optical CMM yields slightly better results, even when used with the simple triangular plate end-effector that was developed mainly for the laser tracker.<\/jats:p>","DOI":"10.1017\/s0263574713000714","type":"journal-article","created":{"date-parts":[[2013,8,22]],"date-time":"2013-08-22T06:17:52Z","timestamp":1377152272000},"page":"447-466","source":"Crossref","is-referenced-by-count":134,"title":["Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker"],"prefix":"10.1017","volume":"32","author":[{"given":"Albert","family":"Nubiola","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohamed","family":"Slamani","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ahmed","family":"Joubair","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ilian A.","family":"Bonev","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2013,8,9]]},"reference":[{"key":"S0263574713000714_ref23","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig","year":"1986"},{"key":"S0263574713000714_ref12","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1989.100049"},{"key":"S0263574713000714_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/70.265930"},{"key":"S0263574713000714_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-011-4120-8_7"},{"key":"S0263574713000714_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.2899139"},{"key":"S0263574713000714_ref16","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000106"},{"key":"S0263574713000714_ref20","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(92)90027-4"},{"key":"S0263574713000714_ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1990.126128"},{"key":"S0263574713000714_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351262"},{"key":"S0263574713000714_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087124"},{"key":"S0263574713000714_ref6","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470400027X"},{"key":"S0263574713000714_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.909765"},{"key":"S0263574713000714_ref19","doi-asserted-by":"crossref","first-page":"647","DOI":"10.1109\/ROBOT.1996.503848","volume-title":"Proceedings of the 1996 IEEE International conference on Robotics and Automation","author":"Nahvi","year":"1996"},{"key":"S0263574713000714_ref3","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620020406"},{"key":"S0263574713000714_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.914003"},{"key":"S0263574713000714_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2012.06.004"},{"key":"S0263574713000714_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543308"},{"key":"S0263574713000714_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/02783640122068182"},{"key":"S0263574713000714_ref7","first-page":"175","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Stone","year":"1987"},{"key":"S0263574713000714_ref14","first-page":"15","volume-title":"Proceedings of 2010 International Conference on Indoor Positioning and Indoor Navigation","author":"Booschs","year":"2010"},{"key":"S0263574713000714_ref17","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620070206"},{"key":"S0263574713000714_ref10","doi-asserted-by":"crossref","unstructured":"C. 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Furet , \u201cA Methodology for Joint Stiffness Identification of Serial Robots,\u201d Proceedings of the 2010 IEEE International Conference on Intelligent Robots and Systems (2010) pp. 464\u2013469.","DOI":"10.1109\/IROS.2010.5652140"},{"key":"S0263574713000714_ref5","first-page":"3178","volume-title":"Proceedings of the 1997 IEEE International Conference on Robotics and Automation (ICRA)","author":"Juneja","year":"1997"},{"key":"S0263574713000714_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087836"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574713000714","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,22]],"date-time":"2019-04-22T17:10:38Z","timestamp":1555953038000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574713000714\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,8,9]]},"references-count":24,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2014,5]]}},"alternative-id":["S0263574713000714"],"URL":"https:\/\/doi.org\/10.1017\/s0263574713000714","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,8,9]]}}}