{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,14]],"date-time":"2026-02-14T05:23:31Z","timestamp":1771046611947,"version":"3.50.1"},"reference-count":29,"publisher":"Emerald","issue":"2","license":[{"start":{"date-parts":[[2012,3,2]],"date-time":"2012-03-02T00:00:00Z","timestamp":1330646400000},"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":[[2012,3,2]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to propose a screw axis identification (SAI) method based on the product of exponentials (POE) model, which is concerned with calibrating a serial robot with m joints equipped with a stereo\u2010camera vision system.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>Different from conventional approaches, like the circle point analysis (CPA) or the system theoretic method which must collect a great deal of data, the identification of the joint parameters for the proposed method only needs to measure m+1 times for n (n\u22653) target points mounted on the manipulator end\u2010effector.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>In this approach, the joint parameter, called a screw or twist, together with the actual value of joint angle can be obtained by linearly solving a closed\u2010form expression. Further, this method avoids calibrating the hand\u2010eye relationship and the exterior parameter of the robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Finally, the stability and accuracy of the SAI method are evaluated by simulation experiments, and it is also verified well in practical experiments.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911211201609","type":"journal-article","created":{"date-parts":[[2012,3,5]],"date-time":"2012-03-05T14:32:44Z","timestamp":1330957964000},"page":"146-153","source":"Crossref","is-referenced-by-count":50,"title":["A screw axis identification method for serial robot calibration based on the POE model"],"prefix":"10.1108","volume":"39","author":[{"given":"Haixia","family":"Wang","sequence":"first","affiliation":[]},{"given":"Shuhan","family":"Shen","sequence":"additional","affiliation":[]},{"given":"Xiao","family":"Lu","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031319581342000_b1","unstructured":"Abdel\u2010Aziz, Y.I. and Karara, H.M. 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