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The proposed forward kinematic model combines classical kinematic modeling techniques with neural networks trained on accurate ground truth data. This fusion enables us to minimize modeling errors effectively. In order to address the inverse kinematic problem, we utilize the forward hybrid model as feedback within a non-linear optimization process. Unlike previous works, our formulation incorporates the rotational component of the end effector, which is beneficial for applications involving orientation, such as inspection tasks. Furthermore, our inverse kinematic strategy can handle multiple possible solutions. Through our research, we demonstrate the effectiveness of the hybrid models as a high-accuracy kinematic modeling strategy, surpassing the performance of traditional physical models in terms of positioning accuracy.<\/jats:p>","DOI":"10.1017\/s026357472400136x","type":"journal-article","created":{"date-parts":[[2024,9,19]],"date-time":"2024-09-19T05:37:57Z","timestamp":1726724277000},"page":"3211-3229","source":"Crossref","is-referenced-by-count":4,"title":["High accuracy hybrid kinematic modeling for serial robotic manipulators"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4494-6688","authenticated-orcid":false,"given":"Marco","family":"Ojer","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ander","family":"Etxezarreta","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gorka","family":"Kortaberria","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Brahim","family":"Ahmed","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jon","family":"Flores","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Javier","family":"Hernandez","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Elena","family":"Lazkano","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiao","family":"Lin","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,9,19]]},"reference":[{"key":"S026357472400136X_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087124"},{"key":"S026357472400136X_ref12","doi-asserted-by":"publisher","DOI":"10.3390\/app131910703"},{"key":"S026357472400136X_ref20","doi-asserted-by":"crossref","unstructured":"[20] Morell, A. , Tarokh, M. and Acosta, L. , \u201cInverse Kinematics Solutions for Serial Robots Using Support Vector Regression,\u201d In: IEEE International Conference on Robotics and Automation, (2013) pp. 4203\u20134208.","DOI":"10.1109\/ICRA.2013.6631171"},{"key":"S026357472400136X_ref19","doi-asserted-by":"publisher","DOI":"10.3390\/s17092066"},{"key":"S026357472400136X_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087054"},{"key":"S026357472400136X_ref24","first-page":"1","article-title":"Evolutionary robot calibration and nonlinear compensation methodology based on GA-DNN and an extra compliance error model","volume":"2020","author":"Chen","year":"2020","journal-title":"Math Prob Eng"},{"key":"S026357472400136X_ref32","doi-asserted-by":"crossref","unstructured":"[32] Bruyninckx, H. , Soetens, P. and Koninckx, B. , \u201cThe Real-Time Motion Control Core of the Orocos Project,\u201d In: IEEE International Conference on Robotics and Automation, (2003) pp. 2766\u20132771.","DOI":"10.1109\/ROBOT.2003.1242011"},{"key":"S026357472400136X_ref35","doi-asserted-by":"crossref","unstructured":"[35] Beeson, P. and Ames, B. , \u201cTrac-ik: An Open-Source Library for Improved Solving of Generic Inverse Kinematics,\u201d In: IEEE RAS Humanoids Conference (2015) pp. 928\u2013935.","DOI":"10.1109\/HUMANOIDS.2015.7363472"},{"key":"S026357472400136X_ref38","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-020-06179-9"},{"key":"S026357472400136X_ref3","first-page":"1","article-title":"Renewable energy for robots and robots for renewable energy - 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