{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,26]],"date-time":"2025-09-26T08:09:01Z","timestamp":1758874141319,"version":"3.37.3"},"reference-count":9,"publisher":"Wiley","license":[{"start":{"date-parts":[[2012,1,1]],"date-time":"2012-01-01T00:00:00Z","timestamp":1325376000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["60775049","60805033"],"award-info":[{"award-number":["60775049","60805033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["60775049","60805033"],"award-info":[{"award-number":["60775049","60805033"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2012]]},"abstract":"<jats:p>The geometric parameters of a space robot change with the terrible temperature change in orbit, which will cause the end-effector pose (position and orientation) error of a space robot, and so weakens its operability. With this in consideration, a new geometric parameter identification method is presented based on a laser-ranger attached to the end-effector. Then, independence of the geometric parameters is analyzed, and their identification equations are derived. With the derived identification Jacobian matrix, the optimal identification configurations are chosen according to the observability index<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\"><mml:msub><mml:mi>O<\/mml:mi><mml:mn>3<\/mml:mn><\/mml:msub><\/mml:math>. Subsequently, through simulation the geometric parameter identification of a 6-DOF space robot is implemented for these identification configurations, and the identified parameters are verified in a set of independent reference configurations. The result shows that in spite of distance measurement alone, pose accuracy of the space robot still has a greater improvement, so the identification method is practical and valid.<\/jats:p>","DOI":"10.1155\/2012\/587407","type":"journal-article","created":{"date-parts":[[2012,5,14]],"date-time":"2012-05-14T17:04:01Z","timestamp":1337015041000},"page":"1-11","source":"Crossref","is-referenced-by-count":5,"title":["Geometric Parameter Identification of a 6-DOF Space Robot Using a Laser-Ranger"],"prefix":"10.1155","volume":"2012","author":[{"given":"Yu","family":"Liu","sequence":"first","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zainan","family":"Jiang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hong","family":"Liu","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenfu","family":"Xu","sequence":"additional","affiliation":[{"name":"Mechanical Engineering and Automation, Harbin Institute of Technology Shenzhen Graduate School, Shenzhen 518057, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.1109\/56.9302"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1017\/S026357470400027X"},{"issue":"6","key":"7","doi-asserted-by":"crossref","first-page":"539","DOI":"10.1109\/JRA.1987.1087144","volume":"3","year":"1987","journal-title":"IEEE Transactions on Robotics and Automation"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1016\/S0890-6955(00)00023-7"},{"key":"10","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.914003"},{"key":"11","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004058"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1163\/156855304322758006"},{"key":"14","doi-asserted-by":"publisher","DOI":"10.1109\/70.258056"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2158234"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/587407.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/587407.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2012\/587407.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2017,6,20]],"date-time":"2017-06-20T14:43:34Z","timestamp":1497969814000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2012\/587407\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012]]},"references-count":9,"alternative-id":["587407","587407"],"URL":"https:\/\/doi.org\/10.1155\/2012\/587407","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"type":"print","value":"1687-9600"},{"type":"electronic","value":"1687-9619"}],"subject":[],"published":{"date-parts":[[2012]]}}}