{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:45:51Z","timestamp":1777715151654,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"1","license":[{"start":{"date-parts":[[1991,2,1]],"date-time":"1991-02-01T00:00:00Z","timestamp":665366400000},"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":[[1991,2]]},"abstract":"<jats:p>The selection of measurement configurations in robot cali bration is investigated. The goal is to select a set of robot measurement configurations that will yield maximum ob servability of the error parameters in a defined position error model so that the effect of noise in parameter estimation can be minimized. The noise considered in this paper includes both measurement and modeling errors. An observability measure is used as a criterion for selecting measurement configurations for calibration. Experimental studies are per formed to demonstrate the importance of observability to parameter estimation and to verify its implications in robot calibration. Based on the defined observability measure, the optimal measurement configurations for robot calibration are determined for general open-loop planar mechanism and PUMA type robots.<\/jats:p>","DOI":"10.1177\/027836499101000106","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"51-63","source":"Crossref","is-referenced-by-count":183,"title":["Determination of Optimal Measurement Configurations for Robot Calibration Based on Observability Measure"],"prefix":"10.1177","volume":"10","author":[{"given":"Jin-Hwan","family":"Borm","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Ajou University Suwon, Korea 441-749"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chia-Hsiang","family":"Meng","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering The Ohio State University Columbus, Ohio 43210"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,2,1]]},"reference":[{"key":"atypb1","author":"Broderick, P.L.","year":"1986","journal-title":"ASME Design Engineering Technical Conference"},{"key":"atypb2","first-page":"1011","author":"Chen, J.","year":"1987","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"atypb3","volume-title":"22nd IEEE Control System Society Conference on Decision and Control","author":"Hayati, S.A."},{"key":"atypb4","volume-title":"International Conference on Robotics","author":"Hayati, S.A."},{"key":"atypb5","first-page":"263","author":"Hsu, T.W.","year":"1985","journal-title":"Proceedings of ASME International Computers in Engineering Conference"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102314"},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500210"},{"key":"atypb8","first-page":"65","author":"Menq, C.H.","year":"1988","journal-title":"Proceedings of U.S.A.-Japan Symposium on Flexible Automation"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1115\/1.3259031"},{"key":"atypb10","first-page":"79","author":"Mooring, B.W.","year":"1984","journal-title":"Proceedings ASME International Conference on Computers in Engineering"},{"key":"atypb11","first-page":"190","author":"Puskorius, G.V.","year":"1987","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087124"},{"key":"atypb13","first-page":"39","author":"Veitschegger, W.K.","year":"1987","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"atypb14","first-page":"686","author":"Whitney, D.E.","year":"1985","journal-title":"Proceedings of IEEE International Conference on Robotics and Automation"},{"key":"atypb15","first-page":"92","author":"Whitney, D.E.","year":"1984","journal-title":"Proceedings of the ASME Conference on Computers in Engineering"}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000106","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T10:14:11Z","timestamp":1777457651000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000106"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,2]]},"references-count":15,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1991,2]]}},"alternative-id":["10.1177\/027836499101000106"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000106","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"value":"0278-3649","type":"print"},{"value":"1741-3176","type":"electronic"}],"subject":[],"published":{"date-parts":[[1991,2]]}}}