{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:17:15Z","timestamp":1762323435539,"version":"3.41.2"},"reference-count":10,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2011,6,21]],"date-time":"2011-06-21T00:00:00Z","timestamp":1308614400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2011,6,21]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>Angular errors in the robot axes can make a significant contribution to robot positioning accuracy. This paper seeks to propose a new measuring method for measuring angular errors.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>New techniques were devised for the detailed investigation of joint angular errors using a reference encoder together with a precision electronic level and autocollimator. This equipment enabled vertical and horizontally orientated joint axes to be measured with the robot located on\u2010site. Circle contouring measurements were also undertaken to assess the significance of multi\u2010axis movements on the accuracy of the end effector.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The technique, devised using a simulation program for the robot geometry with results from a circular test, enables robot errors to be characterised in terms of datum location error, backlash, gear transmission error, axes misalignments and joint encoder offset.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper describes the experimental and theoretical accuracy characteristics of an articulated industrial robot. Close correlation was obtained between the experimental and theoretical results. This paper offers the practical robot calibration method for industrial application.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911111132094","type":"journal-article","created":{"date-parts":[[2011,7,25]],"date-time":"2011-07-25T11:12:51Z","timestamp":1311592371000},"page":"406-418","source":"Crossref","is-referenced-by-count":17,"title":["Influence of the joint angular characteristics on the accuracy of industrial robots"],"prefix":"10.1108","volume":"38","author":[{"given":"Yeon","family":"Taek Oh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","reference":[{"key":"key2022020120390606800_b4","unstructured":"Carlson, J.H. (1985), \u201cHarmonic drives for servomechanisms\u201d, Machine Design, Vol. 10, January, pp. 102\u20106."},{"key":"key2022020120390606800_b3","unstructured":"Centa Transmission LTD Catalogues (1990), \u201cCYCLO: the revolutionary cycloidal speed reducer\u201d, Catalogue No. MBA\/5M\/0889, Centa Transmission LTD, Bradford (printed in England)."},{"key":"key2022020120390606800_b6","unstructured":"Evans, J.C. and Taylerson, C.O. (1986), Measurement of Angle in Engineering, Her Majesty's Stationery Office, London."},{"key":"key2022020120390606800_b7","unstructured":"Heidenhain Catalogues (1990), \u201cDigital linear and angular metrology: position feedback systems for machines and devices\u201d, Catalogue No. 930034, Heidenhain GmBH, Traunreut (printed in Germany)."},{"key":"key2022020120390606800_b5","doi-asserted-by":"crossref","unstructured":"Legnani, G. and Faglia, R. (1992), \u201cHarmonic driver transmissions: the effects of their elasticity, clearance and irregularity on the dynamic behaviour of an actual SCARA robot\u201d, Robotica, Vol. 10, pp. 369\u201075.","DOI":"10.1017\/S0263574700008201"},{"key":"key2022020120390606800_b2","doi-asserted-by":"crossref","unstructured":"Lin, K.Y. and Burdekin, M. (1995), \u201cAngular measurement instruments and techniques used in manufacturing engineering\u201d, Proceedings of the 31st International MATADOR Conference, Manchester, UK, pp. 283\u201090.","DOI":"10.1007\/978-1-349-13796-1_44"},{"key":"key2022020120390606800_b1","doi-asserted-by":"crossref","unstructured":"Xu, W., Pritschow, G. and Wurst, K.H. (1994), \u201cTransmission error of modular robot joint\u201d, JSME International Journal, Series C, Vol. 37 No. 4, pp. 765\u201073.","DOI":"10.1299\/jsmec1993.37.765"},{"key":"key2022020120390606800_frd1","doi-asserted-by":"crossref","unstructured":"Jang, J.H., Kim, S.H. and Kwak, Y.K. (2001), \u201cCalibration of geometric and non\u2010geometric errors of an industrial robot\u201d, Robotica, Vol. 19 No. 3.","DOI":"10.1017\/S0263574700002976"},{"key":"key2022020120390606800_frd2","doi-asserted-by":"crossref","unstructured":"Karlsson, B. and Brogardh, T. (2001), \u201cA new calibration method for industrial robot\u201d, Robotica, Vol. 19 No. 6.","DOI":"10.1017\/S0263574799002374"},{"key":"key2022020120390606800_frd3","unstructured":"Lim, H.\u2010K., Kim, D.\u2010H., Kim, S.\u2010R. and Kang, H\u2010J. (2009), \u201cA practical approach to enhance positioning accuracy of industrial robots\u201d, paper presented at the ICROS\u2010SICE International Joint Conference 2009 (ICCAS\u2010SICE 2009), Fukuoka International Congress Center Fukuoka."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911111132094","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911111132094\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911111132094\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:48Z","timestamp":1753401048000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/38\/4\/406-418\/185621"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,6,21]]},"references-count":10,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2011,6,21]]}},"alternative-id":["10.1108\/01439911111132094"],"URL":"https:\/\/doi.org\/10.1108\/01439911111132094","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2011,6,21]]}}}