{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:57:53Z","timestamp":1777715873662,"version":"3.51.4"},"reference-count":13,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2002,2,1]],"date-time":"2002-02-01T00:00:00Z","timestamp":1012521600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2002,2]]},"abstract":"<jats:p>This paper considers the practical implementation of a new maximum likelihood robot identification method, developed by Olsen and Petersen. In particular, the practical issue concerning the estimation of the joint velocities and accelerations from joint angle measurements, and its consequence on the parameter estimation and accuracy, is considered. Simulation and experimental results on a KUKA IR 361 industrial robot are discussed, and compared with models obtained using a much simpler weighted least squares method.<\/jats:p>","DOI":"10.1177\/027836402760475379","type":"journal-article","created":{"date-parts":[[2003,6,27]],"date-time":"2003-06-27T17:54:44Z","timestamp":1056736484000},"page":"89-96","source":"Crossref","is-referenced-by-count":66,"title":["Maximum Likelihood Identification of a Dynamic Robot Model: Implementation Issues"],"prefix":"10.1177","volume":"21","author":[{"given":"Martin M.","family":"Olsen","sequence":"first","affiliation":[{"name":"The Maersk Mc-Kinney Moller Institute for Production Technology SDU, Odense University Campusvej 55, DK-5230 Odense, Denmark"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jan","family":"Swevers","sequence":"additional","affiliation":[{"name":"Division Production Engineering Machine Design and Automation (PMA) Katholieke Universiteit Leuven Celestijnenlaan 300 B, B-3001 Hevelee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Walter","family":"Verdonck","sequence":"additional","affiliation":[{"name":"Division Production Engineering Machine Design and Automation (PMA) Katholieke Universiteit Leuven Celestijnenlaan 300 B, B-3001 Hevelee, Belgium"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2002,2,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1177\/027836498900800603"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"atypb3","unstructured":"Fisette, P., Raucent, B., and Samin, J.C. 1993. Minimal dynamic characterization of tree-like multibody systems. In Computer-Aided Analysis of Rigid and Flexible Machan. Syst, NATO-Advanced Study Inst., Vol. II, Troia, Portugal, pp. 111-129."},{"key":"atypb4","volume-title":"Dynamic Modelling and Identification of Mechanisms with Application to Industrial Robots. PhD thesis","author":"Ganseman, C.","year":"1998"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100408"},{"key":"atypb6","volume-title":"Matrix Computations","author":"Golub, G.H.","year":"1989"},{"key":"atypb7","volume-title":"System Identification, Theory for the User","author":"Ljung, L.","year":"1987"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-2858-5"},{"key":"atypb9","volume-title":"An Introduction to Identification","author":"Norton, J.","year":"1986"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1109\/70.917088"},{"key":"atypb11","volume-title":"Identification of Linear Systems: A Practical Guideline to Accurate Modeling","author":"Schoukens, J.","year":"1991"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/70.631234"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1115\/1.2897354"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836402760475379","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836402760475379","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:16:43Z","timestamp":1777457803000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836402760475379"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2002,2]]},"references-count":13,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2002,2]]}},"alternative-id":["10.1177\/027836402760475379"],"URL":"https:\/\/doi.org\/10.1177\/027836402760475379","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[2002,2]]}}}