{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,21]],"date-time":"2026-02-21T23:42:28Z","timestamp":1771717348527,"version":"3.50.1"},"reference-count":25,"publisher":"Cambridge University Press (CUP)","issue":"12","license":[{"start":{"date-parts":[[2015,5,28]],"date-time":"2015-05-28T00:00:00Z","timestamp":1432771200000},"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":[[2016,12]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Although the registration of a robot is crucial in order to identify its pose with respect to a tracking system, there is no reported solution to address this issue for a hybrid robot. Different from classical registration, the registration of a hybrid robot requires the need to solve an equation with three unknowns where two of these unknowns are coupled together. This property makes it difficult to obtain a closed-form solution. This paper is a first attempt to solve the registration of a hybrid robot. The Degradation-Kronecker (D-K) method is proposed as an optimal closed-form solution for the registration of a hybrid robot in this paper. Since closed-form methods generally suffer from limited accuracy, a purely nonlinear (PN) method is proposed to complement the D-K method. With simulation and experiment results, it has been found that both methods are robust. The PN method is more accurate but slower as compared to the D-K method. The fast computation property of the D-K method makes it appropriate to be applied in real-time circumstances, while the PN method is suitable to be applied where good accuracy is preferred.<\/jats:p>","DOI":"10.1017\/s0263574715000338","type":"journal-article","created":{"date-parts":[[2015,5,28]],"date-time":"2015-05-28T07:57:52Z","timestamp":1432799872000},"page":"2729-2740","source":"Crossref","is-referenced-by-count":19,"title":["Registration of a hybrid robot using the Degradation-Kronecker method and a purely nonlinear method"],"prefix":"10.1017","volume":"34","author":[{"given":"S. J.","family":"Yan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"S. K.","family":"Ong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. Y. C.","family":"Nee","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2015,5,28]]},"reference":[{"key":"S0263574715000338_ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000967"},{"key":"S0263574715000338_ref20","doi-asserted-by":"crossref","unstructured":"R. L. Hirsh , G. N. DeSouza and A. C. Kak , \u201cAn Iterative Approach to the Hand-Eye and Base-World Calibration Problem,\u201d IEEE International Conference on, Robotics and Automation, 2001. Proceedings 2001 ICRA. Seoul, Korea (2001), vol. 3, pp. 2171\u20132176.","DOI":"10.1109\/ROBOT.2001.932945"},{"key":"S0263574715000338_ref24","doi-asserted-by":"publisher","DOI":"10.1007\/s11548-009-0374-2"},{"key":"S0263574715000338_ref19","doi-asserted-by":"publisher","DOI":"10.1002\/rcs.1427"},{"key":"S0263574715000338_ref8","doi-asserted-by":"crossref","unstructured":"H. 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