{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,1]],"date-time":"2026-07-01T19:52:44Z","timestamp":1782935564550,"version":"3.54.5"},"reference-count":35,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2024,3,15]],"date-time":"2024-03-15T00:00:00Z","timestamp":1710460800000},"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":[[2024,7,2]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>This research paper aims to optimize the calibration process for an ABB IRB 120 robot, specifically for robotic orbital milling applications, by introducing and validating the use of the observability index and telescopic ballbar for accuracy enhancement.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>The study uses the telescopic ballbar and an observability index for the calibration of an ABB IRB 120 robot, focusing on robotic orbital milling. Comparative simulation analysis selects the O<jats:sub>3<\/jats:sub> index. Experimental tests, both static and dynamic, evaluate the proposed calibration approach within the robot\u2019s workspace.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>The proposed calibration approach significantly reduces circularity errors, particularly in robotic orbital milling, showcasing effectiveness in both static and dynamic modes at various tool center point speeds.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The study focuses on a specific robot model and application (robotic orbital milling), limiting generalizability. Further research could explore diverse robot models and applications.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>The findings offer practical benefits by enhancing the accuracy of robotic systems, particularly in precision tasks like orbital milling, providing a valuable calibration method.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Social implications<\/jats:title>\n<jats:p>While primarily technological, improved robotic precision can have social implications, potentially influencing fields where robotic applications are crucial, such as manufacturing and automation.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>This study\u2019s distinctiveness lies in advancing the accuracy and precision of industrial robots during circular motions, specifically tailored for orbital milling applications. The innovative approach synergistically uses the observability index and telescopic ballbar to achieve these objectives.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-12-2023-0334","type":"journal-article","created":{"date-parts":[[2024,3,14]],"date-time":"2024-03-14T01:28:17Z","timestamp":1710379697000},"page":"558-569","source":"Crossref","is-referenced-by-count":9,"title":["Calibration strategies for enhancing accuracy in serial industrial robots for orbital milling applications"],"prefix":"10.1108","volume":"51","author":[{"given":"Mohamed","family":"Slamani","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hocine","family":"Makri","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Aissa","family":"Boudilmi","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ilian A.","family":"Bonev","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jean-Francois","family":"Chatelain","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2024,3,15]]},"reference":[{"key":"key2024070211044194800_ref001","article-title":"Experimental study of observability of parameter errors in robot calibration","volume-title":"IEEE International Conference on Robotics and Automation","year":"1989"},{"issue":"1","key":"key2024070211044194800_ref002","doi-asserted-by":"crossref","first-page":"51","DOI":"10.1177\/027836499101000106","article-title":"Determination of optimal measurement configurations for robot calibration based on observability measure","volume":"10","year":"1991","journal-title":"The International Journal of Robotics Research"},{"issue":"3","key":"key2024070211044194800_ref003","doi-asserted-by":"crossref","first-page":"1287","DOI":"10.3390\/app11031287","article-title":"Research of calibration method for industrial robot based on error model of position","volume":"11","year":"2021","journal-title":"Applied Sciences"},{"key":"key2024070211044194800_ref004","volume-title":"Introduction \u00e0 L'analyse Num\u00e9rique Matricielle et \u00e0 L'optimisation","year":"2007"},{"key":"key2024070211044194800_ref005","article-title":"Robotic calibration issues: accuracy, repeatability and calibration","volume-title":"Proceedings of the 8th Mediterranean Conference on Control and Automation (MED2000)","year":"2000"},{"key":"key2024070211044194800_ref006","article-title":"Robust parallel robot calibration with partial information","volume-title":"Proceedings 2001 ICRA, IEEE International Conference on Robotics and Automation (Cat. 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