{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T19:52:43Z","timestamp":1782935563903,"version":"3.54.5"},"reference-count":38,"publisher":"Emerald","issue":"4","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,9,19]]},"abstract":"<jats:sec>\n                  <jats:title>Purpose<\/jats:title>\n                  <jats:p>The purpose of this study is to improve the accuracy of industrial robot kinematic parameter identification and position accuracy by solving the problem of insufficient consideration of error sources in the kinematic parameter identification model and optimizing the selection of measurement pose set.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Design\/methodology\/approach<\/jats:title>\n                  <jats:p>In this study, a kinematic calibration method for industrial robots considering multiple error sources is proposed. Based on the Modified Denavit Hartenberg (MD-H) model, a robot kinematics identification model including joint reduction ratio error, target ball installation error and coordinate system transformation error is established. Taking the optimal observability index O1 and the minimum flexible deformation as the optimization objectives, a measurement pose set optimization method based on Non-dominated Sorting Genetic Algorithm II (NSGA-II) is proposed to obtain a measurement pose set with higher identification accuracy.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Findings<\/jats:title>\n                  <jats:p>Through experiments conducted with the Nantong Zhenkang ZK1400-6 robot as the test subject, the kinematic parameters identified by the optimized measurement pose set are more accurate than the randomly selected measurement pose set, and the positioning accuracy of the robot is improved from 2.11 to 0.31\u2009mm, an increase of 85.3%.<\/jats:p>\n               <\/jats:sec>\n               <jats:sec>\n                  <jats:title>Originality\/value<\/jats:title>\n                  <jats:p>This study introduces a position error model that comprehensively accounts for the error sources causing positioning inaccuracies. Building on this foundation, a novel flexible deformation index is proposed to quantify the flexible deformation in the measurement pose set, thereby reducing the impact of such deformation on the position error in the model. To the best of the authors\u2019 knowledge, for the first time, this study presents an optimization method for the measurement pose set based on NSGA-II, using the flexible deformation index and observability index as objectives for multi-objective optimization, simultaneously optimizing the pose error and Jacobian matrix in the error model.<\/jats:p>\n               <\/jats:sec>","DOI":"10.1108\/ir-10-2024-0482","type":"journal-article","created":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T00:08:41Z","timestamp":1737331721000},"page":"618-630","source":"Crossref","is-referenced-by-count":2,"title":["A method for calibrating robotic kinematic parameters based on a multi-error source model and an optimized measurement pose set"],"prefix":"10.1108","volume":"52","author":[{"given":"Bo","family":"Cheng","sequence":"first","affiliation":[{"name":"Beijing University of Technology College of Mechanical and Energy Engineering, , Beijing,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Wang","sequence":"additional","affiliation":[{"name":"Beijing University of Technology College of Mechanical and Energy Engineering, , Beijing,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shujun","family":"Chen","sequence":"additional","affiliation":[{"name":"Beijing University of Technology College of Mechanical and Energy Engineering, , Beijing,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziqiang","family":"Zhang","sequence":"additional","affiliation":[{"name":"Beijing University of Technology College of Mechanical and Energy Engineering, , Beijing,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jun","family":"Xiao","sequence":"additional","affiliation":[{"name":"Beijing University of Technology College of Mechanical and Energy Engineering, , Beijing,","place":["China"]}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2025,1,21]]},"reference":[{"issue":"1","key":"2025091707174286600_ref001","doi-asserted-by":"publisher","first-page":"76","DOI":"10.1108\/IR-11-2018-0223","article-title":"The parameter identification model considering both geometric parameters and joint stiffness","volume":"47","author":"Bai","year":"2020","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"2025091707174286600_ref002","doi-asserted-by":"publisher","DOI":"10.1109\/M2VIP.2016.7827279","article-title":"Intelligent selection and optimization of measurement poses for a comprehensive error model identification of 6-DOF serial robot","volume-title":"M2VIP 2016 - Proceedings of 23rd International Conference on Mechatronics and Machine Vision in Practice","author":"Chen","year":"2016"},{"issue":"1","key":"2025091707174286600_ref003","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-023-02038-3","article-title":"A novel positioning accuracy improvement method for polishing robot based on Levenberg\u2013Marquardt and opposition-based learning squirrel search algorithm","volume":"110","author":"Deng","year":"2024","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"10","key":"2025091707174286600_ref004","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6501\/ace6c5","article-title":"A novel calibration method for kinematic parameter errors of industrial robot based on Levenberg-Marquard and Beetle Antennae Search algorithm","volume":"34","author":"Fan","year":"2023","journal-title":"Measurement Science and Technology"},{"issue":"6","key":"2025091707174286600_ref005","doi-asserted-by":"publisher","first-page":"1101","DOI":"10.1108\/IR-12-2021-0297","article-title":"Calibration for a robotic drilling system with secondary encoders based on a novel enhanced rigid-flexible coupling model","volume":"49","author":"Fan","year":"2022","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"5","key":"2025091707174286600_ref006","doi-asserted-by":"publisher","DOI":"10.1177\/1729881419883072","article-title":"A calibration method of robot kinematic parameters by drawstring displacement sensor","volume":"16","author":"Gan","year":"2019","journal-title":"International Journal of Advanced Robotic Systems"},{"key":"2025091707174286600_ref007","doi-asserted-by":"publisher","first-page":"145","DOI":"10.1016\/j.ymssp.2017.08.011","article-title":"Structural parameter identification for 6 DOF industrial robots","volume":"113","author":"Gao","year":"2018","journal-title":"Mechanical Systems and Signal Processing"},{"issue":"8","key":"2025091707174286600_ref008","doi-asserted-by":"publisher","first-page":"1150","DOI":"10.37188\/OPE.20233108.1150","article-title":"A method for improving absolute positioning accuracy of industrial robot in entire workspace domain based on stereo vision","volume":"31","author":"Han","year":"2023","journal-title":"Optics and Precision Engineering"},{"key":"2025091707174286600_ref009","doi-asserted-by":"publisher","first-page":"291","DOI":"10.1007\/978-3-642-01947-0_36","article-title":"Comparison of pose selection criteria for kinematic calibration through simulation","volume-title":"Proceedings of the 5th International Workshop on Computational Kinematics","author":"Horne","year":"2009"},{"key":"2025091707174286600_ref010","doi-asserted-by":"publisher","first-page":"789","DOI":"10.1109\/ICINFA.2008.4608105","article-title":"Determination of optimal measurement configurations for robot calibration based on a hybrid optimal method","volume-title":"Proceedings of the 2008 IEEE International Conference on Information and Automation, ICIA","author":"Huang","year":"2008"},{"key":"2025091707174286600_ref011","doi-asserted-by":"publisher","first-page":"911","DOI":"10.1016\/j.proeng.2015.12.577","article-title":"Overview of the state of robotic machining: Current situation and future potential","volume":"132","author":"Iglesias","year":"2015","journal-title":"Procedia Engineering"},{"issue":"1\/4","key":"2025091707174286600_ref012","doi-asserted-by":"publisher","first-page":"1239","DOI":"10.1007\/s00170-019-03403-z","article-title":"Industrial robotic machining: a review","volume":"103","author":"Ji","year":"2019","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"issue":"3","key":"2025091707174286600_ref013","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-023-01891-6","article-title":"Position-Based robot calibration and compensation using an improved adjoint error model","volume":"108","author":"Jiang","year":"2023","journal-title":"Journal of Intelligent & Robotic Systems"},{"issue":"5","key":"2025091707174286600_ref014","doi-asserted-by":"publisher","DOI":"10.1088\/1361-6501\/ad28af","article-title":"High-precision robotic kinematic parameter identification and positioning error compensation method for industrial robot","volume":"35","author":"Jiang","year":"2024","journal-title":"Measurement Science and Technology"},{"issue":"5","key":"2025091707174286600_ref015","doi-asserted-by":"publisher","first-page":"772","DOI":"10.1108\/IR-01-2024-0029","article-title":"Accurate kinematic calibration of a six-DoF serial robot by using hybrid models with reduced dimension and minimized linearization errors","volume":"51","author":"Jiang","year":"2024","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"6","key":"2025091707174286600_ref016","doi-asserted-by":"publisher","first-page":"1627","DOI":"10.13196\/j.cims.2022.06.003","article-title":"Hierarchical compensation technology for machining error of industrial robots","volume":"28","author":"Jiao","year":"2022","journal-title":"Computer Integrated Manufacturing Systems"},{"key":"2025091707174286600_ref017","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2024.114906","article-title":"Two-step calibration of 6-DOF industrial robots by grouping kinematic parameters based on distance constraints","volume":"235","author":"Kang","year":"2024","journal-title":"Measurement"},{"issue":"3","key":"2025091707174286600_ref018","doi-asserted-by":"publisher","first-page":"397","DOI":"10.1007\/s40436-022-00400-6","article-title":"Precision measurement and compensation of kinematic errors for industrial robots using artifact and machine learning","volume":"10","author":"Kong","year":"2022","journal-title":"Advances in Manufacturing"},{"issue":"1","key":"2025091707174286600_ref019","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1109\/JAS.2020.1003381","article-title":"An overview of calibration technology of industrial robots","volume":"8","author":"Li","year":"2021","journal-title":"IEEE\/CAA Journal of Automatica Sinica"},{"issue":"3","key":"2025091707174286600_ref020","doi-asserted-by":"publisher","first-page":"618","DOI":"10.1007\/s11771-011-0739-x","article-title":"Optimal measurement configurations for kinematic calibration of six-DOF serial robot","volume":"18","author":"Li","year":"2011","journal-title":"Journal of Central South University"},{"issue":"2","key":"2025091707174286600_ref021","doi-asserted-by":"publisher","first-page":"247","DOI":"10.1108\/IR-10-2018-0221","article-title":"Kinematic calibration of serial robot using dual quaternions","volume":"46","author":"Li","year":"2019","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"14","key":"2025091707174286600_ref022","doi-asserted-by":"publisher","first-page":"3210","DOI":"10.1177\/09544062221142697","article-title":"Kinematic parameters calibration of industrial robot based on RWS-PSO algorithm","volume":"237","author":"Li","year":"2023","journal-title":"Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science"},{"key":"2025091707174286600_ref023","first-page":"2268","article-title":"A practical approach to enhance positioning accuracy for industrial robots","author":"Lim","year":"2009"},{"key":"2025091707174286600_ref024","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2023.102550","article-title":"A two-step method for kinematic parameters calibration based on complete pose measurement\u2014verification on a heavy-duty robot","volume":"83","author":"Miao","year":"2023","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"issue":"1","key":"2025091707174286600_ref025","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1016\/j.rcim.2012.06.004","article-title":"Absolute calibration of an ABB IRB 1600 robot using a laser tracker","volume":"29","author":"Nubiola","year":"2013","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"2025091707174286600_ref026","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1016\/j.precisioneng.2017.05.009","article-title":"A novel calibration method for multi-robots system utilizing calibration model without nominal kinematic parameters","volume":"50","author":"Qiao","year":"2017","journal-title":"Precision Engineering"},{"issue":"1","key":"2025091707174286600_ref027","doi-asserted-by":"publisher","first-page":"475","DOI":"10.1016\/S0007-8506(07)60148-6","article-title":"Error mapping of CMMs and machine tools by a single tracking interferometer","volume":"54","author":"Schwenke","year":"2005","journal-title":"CIRP Annals"},{"issue":"4","key":"2025091707174286600_ref028","doi-asserted-by":"publisher","first-page":"558","DOI":"10.1108\/IR-12-2023-0334","article-title":"Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications","volume":"51","author":"Slamani","year":"2024","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"2025091707174286600_ref038","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2024.105652","article-title":"Full pose measurement system for industrial robots kinematic calibration based on a sensorized spatial linkage mechanism","volume":"197","author":"Tiboni","year":"2024","journal-title":"Mechanism and Machine Theory"},{"issue":"6","key":"2025091707174286600_ref029","doi-asserted-by":"publisher","first-page":"993","DOI":"10.1108\/IR-05-2023-0115","article-title":"Sequential calibration of transmission ratios for joints of 6-DOF serial industrial robots based on laser tracker","volume":"50","author":"Wang","year":"2023","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"2025091707174286600_ref030","doi-asserted-by":"publisher","first-page":"72","DOI":"10.1016\/j.mechmachtheory.2019.02.013","article-title":"Experimental statics calibration of a multi-constraint parallel continuum robot","volume":"136","author":"Wu","year":"2019","journal-title":"Mechanism and Machine Theory"},{"issue":"1","key":"2025091707174286600_ref031","doi-asserted-by":"publisher","DOI":"10.1007\/s40430-023-04585-0","article-title":"Adaptive chicken swarm optimization algorithm for identifying structural parameters of 6-DOF mechanical arm","volume":"46","author":"Xu","year":"2024","journal-title":"Journal of the Brazilian Society of Mechanical Sciences and Engineering"},{"issue":"1","key":"2025091707174286600_ref032","doi-asserted-by":"publisher","first-page":"51","DOI":"10.13196\/j.cims.2023.01.005","article-title":"Hierarchical calibration method of industrial robots based on PSO-SVR algorithm","volume":"29","author":"Xue","year":"2023","journal-title":"Computer Integrated Manufacturing Systems"},{"key":"2025091707174286600_ref033","doi-asserted-by":"publisher","first-page":"482","DOI":"10.1016\/j.precisioneng.2017.07.004","article-title":"Research on surface normal measurement and adjustment in aircraft assembly","volume":"50","author":"Yu","year":"2017","journal-title":"Precision Engineering"},{"issue":"5","key":"2025091707174286600_ref034","doi-asserted-by":"publisher","first-page":"753","DOI":"10.1108\/IR-11-2022-0284","article-title":"Modeling and calibration of high-order joint-dependent kinematic errors of serial robot based on local POE","volume":"50","author":"Zhang","year":"2023","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"1","key":"2025091707174286600_ref035","doi-asserted-by":"publisher","first-page":"157","DOI":"10.1108\/IR-05-2020-0103","article-title":"A novel method to identify DH parameters of the rigid serial-link robot based on a geometry model","volume":"48","author":"Zhang","year":"2021","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"issue":"4","key":"2025091707174286600_ref036","doi-asserted-by":"publisher","first-page":"484","DOI":"10.1108\/IR-07-2020-0144","article-title":"Simultaneous identification of joint stiffness, kinematic and hand-eye parameters of measurement system integrated with serial robot and 3D camera","volume":"48","author":"Zhuang","year":"2021","journal-title":"Industrial Robot: The International Journal of Robotics Research and Application"},{"key":"2025091707174286600_ref037","doi-asserted-by":"publisher","first-page":"831","DOI":"10.1109\/ROBOT.2008.4543308","article-title":"Observability index selection for robot calibration\u201d, proceedings","volume-title":"IEEE International Conference on Robotics and Automation","author":"Sun","year":"2008"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-10-2024-0482\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/52\/4\/618\/10294058\/ir-10-2024-0482en.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"https:\/\/www.emerald.com\/ir\/article-pdf\/52\/4\/618\/10294058\/ir-10-2024-0482en.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T11:17:47Z","timestamp":1758107867000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.emerald.com\/ir\/article\/52\/4\/618\/1256550\/A-method-for-calibrating-robotic-kinematic"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,21]]},"references-count":38,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2025,9,19]]}},"URL":"https:\/\/doi.org\/10.1108\/ir-10-2024-0482","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"1758-5791","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,21]]}}}