{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,24]],"date-time":"2025-08-24T01:30:05Z","timestamp":1755999005499,"version":"3.41.2"},"reference-count":29,"publisher":"Emerald","issue":"6","license":[{"start":{"date-parts":[[2018,11,22]],"date-time":"2018-11-22T00:00:00Z","timestamp":1542844800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2018,12,7]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to propose a novel robot kinematic calibration method based on the common perpendicular line (CPL) model to improve the absolute accuracy of industrial robots.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The deviation between the nominal and actual twists is considered the CPL transformation, which includes the rotation about the CPL and the translation along the CPL. By using the invariance of the reciprocal product of the two spatial lines, the previous deviation was analyzed in the neighbor space of the base frame origin. In this space, the line vector of the CPL contained only four independent parameters: two orientation elements and two moment elements. Thus, the CPL model has four independent parameters for the revolute joint and two parameters for the prismatic joint.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>By simulations and experiment conducted on a SCARA robot and a 6-DOF PUMA robot, the effectiveness of the novel method for calibration of industrial robot is validated.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The CPL model avoided the normalization and orthogonalization in the iterative identification procedure. Therefore, identifying the CPL model was not only simpler but also more accurate than that of the traditional model. In addition, the results of the CPL transformation strictly conformed to the constraints of the twist.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-05-2018-0084","type":"journal-article","created":{"date-parts":[[2018,11,22]],"date-time":"2018-11-22T07:43:39Z","timestamp":1542872619000},"page":"766-775","source":"Crossref","is-referenced-by-count":7,"title":["A novel robot kinematic calibration method based on common perpendicular line model"],"prefix":"10.1108","volume":"45","author":[{"given":"Chen","family":"Shen","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youping","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Bing","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yu","family":"Qiao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2018,11,22]]},"reference":[{"issue":"11\/12","key":"key2022112510133893000_ref001","first-page":"1215","article-title":"Local POE model for robot kinematic calibration","volume":"36","year":"2001","journal-title":"Mechanism and Machine Theory"},{"issue":"9\/12","key":"key2022112510133893000_ref002","first-page":"1489","article-title":"Robot machining: recent development and future research issues","volume":"66","year":"2013","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"volume-title":"Screw Algebra and Lie Groups and Lie Algebras, Beijing","year":"2014","key":"key2022112510133893000_ref003"},{"issue":"1","key":"key2022112510133893000_ref004","doi-asserted-by":"crossref","first-page":"96","DOI":"10.1115\/1.3152658","article-title":"The theory of kinematic parameter identification for industrial robots","volume":"110","year":"1988","journal-title":"Journal of Dynamic Systems, Measurement, and Control"},{"key":"key2022112510133893000_ref005","first-page":"798","article-title":"A study of kinematic models for forward calibration of manipulators","volume-title":"1988 IEEE International Conference on Robotics and Automation","year":"1988"},{"issue":"1","key":"key2022112510133893000_ref006","doi-asserted-by":"crossref","first-page":"015107","DOI":"10.1088\/0957-0233\/19\/1\/015107","article-title":"A practical approach to compensate for geometric errors in measuring arms: application to a six-degree-of-freedom kinematic structure","volume":"19","year":"2008","journal-title":"Measurement Science and Technology"},{"issue":"5","key":"key2022112510133893000_ref007","doi-asserted-by":"crossref","first-page":"6","DOI":"10.1109\/37.236317","article-title":"Identifying robot parameters using partial pose information","volume":"13","year":"1993","journal-title":"IEEE Control Systems"},{"key":"key2022112510133893000_ref008","first-page":"1477","article-title":"Robot arm geometric link parameter estimation","volume-title":"1983 IEEE Conference on Decision and Control","year":"1983"},{"issue":"4","key":"key2022112510133893000_ref009","doi-asserted-by":"crossref","first-page":"397","DOI":"10.1002\/rob.4620020406","article-title":"Improving the absolute positioning accuracy of robot manipulators","volume":"2","year":"1985","journal-title":"Journal of Robotic Systems"},{"issue":"3","key":"key2022112510133893000_ref010","doi-asserted-by":"crossref","first-page":"411","DOI":"10.1109\/TRO.2010.2047529","article-title":"Kinematic-parameter identification for serial-robot calibration based on POE formula","volume":"26","year":"2010","journal-title":"IEEE Transactions on Robotics"},{"issue":"1\/4","key":"key2022112510133893000_ref011","first-page":"515","article-title":"Kinematic calibration of a six-axis serial robot using distance and sphere constraints","volume":"77","year":"2015","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"2","key":"key2022112510133893000_ref012","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1108\/IR-07-2016-0184","article-title":"Kinematic calibration of a 3-DOF parallel tool head","volume":"44","year":"2017","journal-title":"Industrial Robot: An International Journal"},{"key":"key2022112510133893000_ref013","first-page":"5261","article-title":"Improved and modified geometric formulation of POE based kinematic calibration of serial robots","volume-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems","year":"2009"},{"key":"key2022112510133893000_ref014","first-page":"79","article-title":"An improved method for identifying the kinematic parameters in a six axis robot","volume-title":"1984 International Computers in Engineering Conference and Exhibition","year":"1984"},{"volume-title":"A Mathematical Introduction to Robotic Manipulation","year":"1994","key":"key2022112510133893000_ref015"},{"issue":"3","key":"key2022112510133893000_ref016","doi-asserted-by":"crossref","first-page":"447","DOI":"10.1017\/S0263574713000714","article-title":"Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker","volume":"32","year":"2014","journal-title":"Robotica"},{"issue":"4","key":"key2022112510133893000_ref017","doi-asserted-by":"crossref","first-page":"415","DOI":"10.1017\/S0263574700019810","article-title":"Kinematic calibration using the product of exponentials formula","volume":"14","year":"1996","journal-title":"Robotica"},{"key":"key2022112510133893000_ref018","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1007\/978-94-015-8348-0_12","article-title":"Kinematic calibration and the product of exponentials formula","volume-title":"Advances in Robot Kinematics and Computational Geometry","year":"1994"},{"issue":"9\/12","key":"key2022112510133893000_ref019","first-page":"2087","article-title":"Laser tracker-based kinematic parameter calibration of industrial robots by improved CPA method and active retroreflector","volume":"66","year":"2013","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"1","key":"key2022112510133893000_ref020","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1016\/S0736-5845(96)00025-7","article-title":"Complete, minimal and model-continuous kinematic models for robot calibration","volume":"13","year":"1997","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2022112510133893000_ref021","doi-asserted-by":"crossref","first-page":"11","DOI":"10.1007\/0-387-27274-7_2","article-title":"Lie groups","volume-title":"Geometric Fundamentals of Robotics","year":"2005"},{"key":"key2022112510133893000_ref022","first-page":"175","article-title":"A prototype arm signature identification system","volume-title":"1987 IEEE International Conference on Robotics and Automation","year":"1987"},{"first-page":"9","volume-title":"Kinematics","year":"2008","key":"key2022112510133893000_ref023"},{"issue":"5","key":"key2022112510133893000_ref024","doi-asserted-by":"crossref","first-page":"414","DOI":"10.1016\/j.rcim.2010.03.013","article-title":"An overview of dynamic parameter identification of robots","volume":"26","year":"2010","journal-title":"Robotics & Computer Integrated Manufacturing"},{"key":"key2022112510133893000_ref025","doi-asserted-by":"crossref","first-page":"199","DOI":"10.1016\/j.rcim.2016.09.002","article-title":"Workspace and dynamic performance evaluation of the parallel manipulators in a spray-painting equipment","volume":"44","year":"2017","journal-title":"Robotics & Computer Integrated Manufacturing"},{"key":"key2022112510133893000_ref026","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1016\/j.ijmachtools.2015.11.006","article-title":"Modeling and compensation of volumetric errors for five-axis machine tools","volume":"101","year":"2016","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2022112510133893000_ref027","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1016\/j.ijmachtools.2013.09.002","article-title":"Generalized kinematics of five-axis serial machines with non-singular tool path generation","volume":"75","year":"2013","journal-title":"International Journal of Machine Tools and Manufacture"},{"issue":"3","key":"key2022112510133893000_ref028","doi-asserted-by":"crossref","first-page":"326","DOI":"10.1016\/j.rcim.2013.11.002","article-title":"A minimal kinematic model for serial robot calibration using POE formula","volume":"30","year":"2014","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"4","key":"key2022112510133893000_ref029","doi-asserted-by":"crossref","first-page":"451","DOI":"10.1109\/70.149944","article-title":"A complete and parametrically continuous kinematic model for robot manipulators","volume":"8","year":"1992","journal-title":"IEEE Transactions on Robotics and Automation"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2018-0084\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-05-2018-0084\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:04Z","timestamp":1753393144000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/45\/6\/766-775\/174529"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,22]]},"references-count":29,"journal-issue":{"issue":"6","published-online":{"date-parts":[[2018,11,22]]},"published-print":{"date-parts":[[2018,12,7]]}},"alternative-id":["10.1108\/IR-05-2018-0084"],"URL":"https:\/\/doi.org\/10.1108\/ir-05-2018-0084","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2018,11,22]]}}}