{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,23]],"date-time":"2025-09-23T13:25:26Z","timestamp":1758633926737,"version":"3.41.2"},"reference-count":15,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2019,6,20]],"date-time":"2019-06-20T00:00:00Z","timestamp":1560988800000},"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":[[2019,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This paper aims to present a complete relative pose error model for robot calibration, considering both the relative distance error and the relative rotation error of the robot end-effector, which can improve calibration accuracy.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>In this paper, the relative distance error model and the relative rotation error model of robot calibration are derived by ignoring high-order nonlinear errors, and the two models form into a complete relative pose error model. Besides, mathematical expectation of the nonlinear errors is calculated, indicating that they have little influence on calibration accuracy.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>Comparative experiments have indicated that the proposed complete relative pose error model does better in robot calibration than only the distance error model.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The main contribution of this paper lies in the derivation of the relative rotation error model, which helps to form a complete relative pose error model for calibration. 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