A dynamic parameter identification method of industrial robots considering joint elasticity Article Swipe
Hepeng Ni
,
Chengrui Zhang
,
Tianliang Hu
,
Teng Wang
,
Qizhi Chen
,
Chao Chen
·
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881418825217
YOU?
·
· 2019
· Open Access
·
· DOI: https://doi.org/10.1177/1729881418825217
Considering the joint elasticity, a novel dynamic parameter identification method is proposed for general industrial robots only with motor encoders. Firstly, the unknown parameters of the elastic joint dynamic model are analyzed and divided into two types. The first type is the motion-independent parameter only including the joint stiffness, which can be identified by the static force/torque-deformation experiments without the dynamic model. The second type is the motion-dependent parameter composed of the rest of the parameters, which needs the dynamic excitation experiments. Therefore, these two types of parameters can be identified separately. Meanwhile, it is found that the rotor inertia parameters can be obtained from the manufacturer, which reduces the identification difficulty of other parameters. After obtaining the rotor inertia and joint stiffness, an approximate processing algorithm is proposed considering the motor friction to establish the linear identification model of other parameters. Hence, the least squares can be employed to identify the parameters, and the independence of the inertia and joint viscous friction parameters are not affected. Meanwhile, the exciting trajectories can be optimized throughout the robot workspace, which reduces the effect of measurement noise on identification accuracy. With the proposed separated identification strategy and approximate processing algorithm, the dynamic parameters can be obtained precisely without double encoders on each joint. Finally, a series of simulations are conducted to evaluate the good performance of the proposed method.
Related Topics
Concepts
Inertia
Computer science
Control theory (sociology)
Joint stiffness
Stiffness
Encoder
Elasticity (physics)
Torque
Robot
Rotor (electric)
Workspace
Joint (building)
Artificial intelligence
Structural engineering
Engineering
Physics
Thermodynamics
Control (management)
Operating system
Classical mechanics
Mechanical engineering
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1177/1729881418825217
- https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217
- OA Status
- gold
- Cited By
- 25
- References
- 26
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W2912383555
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W2912383555Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1177/1729881418825217Digital Object Identifier
- Title
-
A dynamic parameter identification method of industrial robots considering joint elasticityWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2019Year of publication
- Publication date
-
2019-01-01Full publication date if available
- Authors
-
Hepeng Ni, Chengrui Zhang, Tianliang Hu, Teng Wang, Qizhi Chen, Chao ChenList of authors in order
- Landing page
-
https://doi.org/10.1177/1729881418825217Publisher landing page
- PDF URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217Direct OA link when available
- Concepts
-
Inertia, Computer science, Control theory (sociology), Joint stiffness, Stiffness, Encoder, Elasticity (physics), Torque, Robot, Rotor (electric), Workspace, Joint (building), Artificial intelligence, Structural engineering, Engineering, Physics, Thermodynamics, Control (management), Operating system, Classical mechanics, Mechanical engineeringTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
25Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 4, 2024: 3, 2023: 4, 2022: 7, 2021: 1Per-year citation counts (last 5 years)
- References (count)
-
26Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
Full payload
| id | https://openalex.org/W2912383555 |
|---|---|
| doi | https://doi.org/10.1177/1729881418825217 |
| ids.doi | https://doi.org/10.1177/1729881418825217 |
| ids.mag | 2912383555 |
| ids.openalex | https://openalex.org/W2912383555 |
| fwci | 2.31371348 |
| type | article |
| title | A dynamic parameter identification method of industrial robots considering joint elasticity |
| awards[0].id | https://openalex.org/G4946857445 |
| awards[0].funder_id | https://openalex.org/F4320321001 |
| awards[0].display_name | |
| awards[0].funder_award_id | 51875323 |
| awards[0].funder_display_name | National Natural Science Foundation of China |
| biblio.issue | 1 |
| biblio.volume | 16 |
| biblio.last_page | |
| biblio.first_page | |
| topics[0].id | https://openalex.org/T10571 |
| topics[0].field.id | https://openalex.org/fields/22 |
| topics[0].field.display_name | Engineering |
| topics[0].score | 0.9980999827384949 |
| topics[0].domain.id | https://openalex.org/domains/3 |
| topics[0].domain.display_name | Physical Sciences |
| topics[0].subfield.id | https://openalex.org/subfields/2207 |
| topics[0].subfield.display_name | Control and Systems Engineering |
| topics[0].display_name | Robotic Mechanisms and Dynamics |
| topics[1].id | https://openalex.org/T10653 |
| topics[1].field.id | https://openalex.org/fields/22 |
| topics[1].field.display_name | Engineering |
| topics[1].score | 0.995199978351593 |
| topics[1].domain.id | https://openalex.org/domains/3 |
| topics[1].domain.display_name | Physical Sciences |
| topics[1].subfield.id | https://openalex.org/subfields/2207 |
| topics[1].subfield.display_name | Control and Systems Engineering |
| topics[1].display_name | Robot Manipulation and Learning |
| topics[2].id | https://openalex.org/T11023 |
| topics[2].field.id | https://openalex.org/fields/22 |
| topics[2].field.display_name | Engineering |
| topics[2].score | 0.9803000092506409 |
| topics[2].domain.id | https://openalex.org/domains/3 |
| topics[2].domain.display_name | Physical Sciences |
| topics[2].subfield.id | https://openalex.org/subfields/2204 |
| topics[2].subfield.display_name | Biomedical Engineering |
| topics[2].display_name | Prosthetics and Rehabilitation Robotics |
| funders[0].id | https://openalex.org/F4320321001 |
| funders[0].ror | https://ror.org/01h0zpd94 |
| funders[0].display_name | National Natural Science Foundation of China |
| is_xpac | False |
| apc_list.value | 1500 |
| apc_list.currency | USD |
| apc_list.value_usd | 1500 |
| apc_paid.value | 1500 |
| apc_paid.currency | USD |
| apc_paid.value_usd | 1500 |
| concepts[0].id | https://openalex.org/C110407247 |
| concepts[0].level | 2 |
| concepts[0].score | 0.7103385329246521 |
| concepts[0].wikidata | https://www.wikidata.org/wiki/Q122508 |
| concepts[0].display_name | Inertia |
| concepts[1].id | https://openalex.org/C41008148 |
| concepts[1].level | 0 |
| concepts[1].score | 0.6702222228050232 |
| concepts[1].wikidata | https://www.wikidata.org/wiki/Q21198 |
| concepts[1].display_name | Computer science |
| concepts[2].id | https://openalex.org/C47446073 |
| concepts[2].level | 3 |
| concepts[2].score | 0.6536731123924255 |
| concepts[2].wikidata | https://www.wikidata.org/wiki/Q5165890 |
| concepts[2].display_name | Control theory (sociology) |
| concepts[3].id | https://openalex.org/C2781415944 |
| concepts[3].level | 3 |
| concepts[3].score | 0.5755840539932251 |
| concepts[3].wikidata | https://www.wikidata.org/wiki/Q559210 |
| concepts[3].display_name | Joint stiffness |
| concepts[4].id | https://openalex.org/C2779372316 |
| concepts[4].level | 2 |
| concepts[4].score | 0.5036925673484802 |
| concepts[4].wikidata | https://www.wikidata.org/wiki/Q569057 |
| concepts[4].display_name | Stiffness |
| concepts[5].id | https://openalex.org/C118505674 |
| concepts[5].level | 2 |
| concepts[5].score | 0.5023627281188965 |
| concepts[5].wikidata | https://www.wikidata.org/wiki/Q42586063 |
| concepts[5].display_name | Encoder |
| concepts[6].id | https://openalex.org/C121854251 |
| concepts[6].level | 2 |
| concepts[6].score | 0.47868186235427856 |
| concepts[6].wikidata | https://www.wikidata.org/wiki/Q62932 |
| concepts[6].display_name | Elasticity (physics) |
| concepts[7].id | https://openalex.org/C144171764 |
| concepts[7].level | 2 |
| concepts[7].score | 0.45991387963294983 |
| concepts[7].wikidata | https://www.wikidata.org/wiki/Q48103 |
| concepts[7].display_name | Torque |
| concepts[8].id | https://openalex.org/C90509273 |
| concepts[8].level | 2 |
| concepts[8].score | 0.43918636441230774 |
| concepts[8].wikidata | https://www.wikidata.org/wiki/Q11012 |
| concepts[8].display_name | Robot |
| concepts[9].id | https://openalex.org/C17281054 |
| concepts[9].level | 2 |
| concepts[9].score | 0.43745970726013184 |
| concepts[9].wikidata | https://www.wikidata.org/wiki/Q193466 |
| concepts[9].display_name | Rotor (electric) |
| concepts[10].id | https://openalex.org/C58581272 |
| concepts[10].level | 3 |
| concepts[10].score | 0.43123143911361694 |
| concepts[10].wikidata | https://www.wikidata.org/wiki/Q12741163 |
| concepts[10].display_name | Workspace |
| concepts[11].id | https://openalex.org/C18555067 |
| concepts[11].level | 2 |
| concepts[11].score | 0.4108472466468811 |
| concepts[11].wikidata | https://www.wikidata.org/wiki/Q8375051 |
| concepts[11].display_name | Joint (building) |
| concepts[12].id | https://openalex.org/C154945302 |
| concepts[12].level | 1 |
| concepts[12].score | 0.1381172239780426 |
| concepts[12].wikidata | https://www.wikidata.org/wiki/Q11660 |
| concepts[12].display_name | Artificial intelligence |
| concepts[13].id | https://openalex.org/C66938386 |
| concepts[13].level | 1 |
| concepts[13].score | 0.11043253540992737 |
| concepts[13].wikidata | https://www.wikidata.org/wiki/Q633538 |
| concepts[13].display_name | Structural engineering |
| concepts[14].id | https://openalex.org/C127413603 |
| concepts[14].level | 0 |
| concepts[14].score | 0.10287714004516602 |
| concepts[14].wikidata | https://www.wikidata.org/wiki/Q11023 |
| concepts[14].display_name | Engineering |
| concepts[15].id | https://openalex.org/C121332964 |
| concepts[15].level | 0 |
| concepts[15].score | 0.09256303310394287 |
| concepts[15].wikidata | https://www.wikidata.org/wiki/Q413 |
| concepts[15].display_name | Physics |
| concepts[16].id | https://openalex.org/C97355855 |
| concepts[16].level | 1 |
| concepts[16].score | 0.0 |
| concepts[16].wikidata | https://www.wikidata.org/wiki/Q11473 |
| concepts[16].display_name | Thermodynamics |
| concepts[17].id | https://openalex.org/C2775924081 |
| concepts[17].level | 2 |
| concepts[17].score | 0.0 |
| concepts[17].wikidata | https://www.wikidata.org/wiki/Q55608371 |
| concepts[17].display_name | Control (management) |
| concepts[18].id | https://openalex.org/C111919701 |
| concepts[18].level | 1 |
| concepts[18].score | 0.0 |
| concepts[18].wikidata | https://www.wikidata.org/wiki/Q9135 |
| concepts[18].display_name | Operating system |
| concepts[19].id | https://openalex.org/C74650414 |
| concepts[19].level | 1 |
| concepts[19].score | 0.0 |
| concepts[19].wikidata | https://www.wikidata.org/wiki/Q11397 |
| concepts[19].display_name | Classical mechanics |
| concepts[20].id | https://openalex.org/C78519656 |
| concepts[20].level | 1 |
| concepts[20].score | 0.0 |
| concepts[20].wikidata | https://www.wikidata.org/wiki/Q101333 |
| concepts[20].display_name | Mechanical engineering |
| keywords[0].id | https://openalex.org/keywords/inertia |
| keywords[0].score | 0.7103385329246521 |
| keywords[0].display_name | Inertia |
| keywords[1].id | https://openalex.org/keywords/computer-science |
| keywords[1].score | 0.6702222228050232 |
| keywords[1].display_name | Computer science |
| keywords[2].id | https://openalex.org/keywords/control-theory |
| keywords[2].score | 0.6536731123924255 |
| keywords[2].display_name | Control theory (sociology) |
| keywords[3].id | https://openalex.org/keywords/joint-stiffness |
| keywords[3].score | 0.5755840539932251 |
| keywords[3].display_name | Joint stiffness |
| keywords[4].id | https://openalex.org/keywords/stiffness |
| keywords[4].score | 0.5036925673484802 |
| keywords[4].display_name | Stiffness |
| keywords[5].id | https://openalex.org/keywords/encoder |
| keywords[5].score | 0.5023627281188965 |
| keywords[5].display_name | Encoder |
| keywords[6].id | https://openalex.org/keywords/elasticity |
| keywords[6].score | 0.47868186235427856 |
| keywords[6].display_name | Elasticity (physics) |
| keywords[7].id | https://openalex.org/keywords/torque |
| keywords[7].score | 0.45991387963294983 |
| keywords[7].display_name | Torque |
| keywords[8].id | https://openalex.org/keywords/robot |
| keywords[8].score | 0.43918636441230774 |
| keywords[8].display_name | Robot |
| keywords[9].id | https://openalex.org/keywords/rotor |
| keywords[9].score | 0.43745970726013184 |
| keywords[9].display_name | Rotor (electric) |
| keywords[10].id | https://openalex.org/keywords/workspace |
| keywords[10].score | 0.43123143911361694 |
| keywords[10].display_name | Workspace |
| keywords[11].id | https://openalex.org/keywords/joint |
| keywords[11].score | 0.4108472466468811 |
| keywords[11].display_name | Joint (building) |
| keywords[12].id | https://openalex.org/keywords/artificial-intelligence |
| keywords[12].score | 0.1381172239780426 |
| keywords[12].display_name | Artificial intelligence |
| keywords[13].id | https://openalex.org/keywords/structural-engineering |
| keywords[13].score | 0.11043253540992737 |
| keywords[13].display_name | Structural engineering |
| keywords[14].id | https://openalex.org/keywords/engineering |
| keywords[14].score | 0.10287714004516602 |
| keywords[14].display_name | Engineering |
| keywords[15].id | https://openalex.org/keywords/physics |
| keywords[15].score | 0.09256303310394287 |
| keywords[15].display_name | Physics |
| language | en |
| locations[0].id | doi:10.1177/1729881418825217 |
| locations[0].is_oa | True |
| locations[0].source.id | https://openalex.org/S169266912 |
| locations[0].source.issn | 1729-8806, 1729-8814 |
| locations[0].source.type | journal |
| locations[0].source.is_oa | True |
| locations[0].source.issn_l | 1729-8806 |
| locations[0].source.is_core | True |
| locations[0].source.is_in_doaj | True |
| locations[0].source.display_name | International Journal of Advanced Robotic Systems |
| locations[0].source.host_organization | https://openalex.org/P4310320017 |
| locations[0].source.host_organization_name | SAGE Publishing |
| locations[0].source.host_organization_lineage | https://openalex.org/P4310320017 |
| locations[0].source.host_organization_lineage_names | SAGE Publishing |
| locations[0].license | cc-by |
| locations[0].pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217 |
| locations[0].version | publishedVersion |
| locations[0].raw_type | journal-article |
| locations[0].license_id | https://openalex.org/licenses/cc-by |
| locations[0].is_accepted | True |
| locations[0].is_published | True |
| locations[0].raw_source_name | International Journal of Advanced Robotic Systems |
| locations[0].landing_page_url | https://doi.org/10.1177/1729881418825217 |
| locations[1].id | pmh:oai:doaj.org/article:e1cf8c91a9ed49b89cd55aa6356a113e |
| locations[1].is_oa | True |
| locations[1].source.id | https://openalex.org/S4306401280 |
| locations[1].source.issn | |
| locations[1].source.type | repository |
| locations[1].source.is_oa | False |
| locations[1].source.issn_l | |
| locations[1].source.is_core | False |
| locations[1].source.is_in_doaj | False |
| locations[1].source.display_name | DOAJ (DOAJ: Directory of Open Access Journals) |
| locations[1].source.host_organization | |
| locations[1].source.host_organization_name | |
| locations[1].license | cc-by-sa |
| locations[1].pdf_url | |
| locations[1].version | submittedVersion |
| locations[1].raw_type | article |
| locations[1].license_id | https://openalex.org/licenses/cc-by-sa |
| locations[1].is_accepted | False |
| locations[1].is_published | False |
| locations[1].raw_source_name | International Journal of Advanced Robotic Systems, Vol 16 (2019) |
| locations[1].landing_page_url | https://doaj.org/article/e1cf8c91a9ed49b89cd55aa6356a113e |
| indexed_in | crossref, doaj |
| authorships[0].author.id | https://openalex.org/A5048658759 |
| authorships[0].author.orcid | |
| authorships[0].author.display_name | Hepeng Ni |
| authorships[0].countries | CN |
| authorships[0].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[0].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[0].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[1].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[0].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[0].affiliations[2].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[0].institutions[0].id | https://openalex.org/I154099455 |
| authorships[0].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[0].institutions[0].type | education |
| authorships[0].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[0].institutions[0].country_code | CN |
| authorships[0].institutions[0].display_name | Shandong University |
| authorships[0].author_position | first |
| authorships[0].raw_author_name | Hepeng Ni |
| authorships[0].is_corresponding | False |
| authorships[0].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[1].author.id | https://openalex.org/A5077452145 |
| authorships[1].author.orcid | https://orcid.org/0000-0003-1536-589X |
| authorships[1].author.display_name | Chengrui Zhang |
| authorships[1].countries | CN |
| authorships[1].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[0].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[1].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[1].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[1].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[1].affiliations[2].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[1].institutions[0].id | https://openalex.org/I154099455 |
| authorships[1].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[1].institutions[0].type | education |
| authorships[1].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[1].institutions[0].country_code | CN |
| authorships[1].institutions[0].display_name | Shandong University |
| authorships[1].author_position | middle |
| authorships[1].raw_author_name | Chengrui Zhang |
| authorships[1].is_corresponding | True |
| authorships[1].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[2].author.id | https://openalex.org/A5027330383 |
| authorships[2].author.orcid | https://orcid.org/0000-0001-5844-661X |
| authorships[2].author.display_name | Tianliang Hu |
| authorships[2].countries | CN |
| authorships[2].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[0].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[2].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[1].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[2].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[2].affiliations[2].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[2].institutions[0].id | https://openalex.org/I154099455 |
| authorships[2].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[2].institutions[0].type | education |
| authorships[2].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[2].institutions[0].country_code | CN |
| authorships[2].institutions[0].display_name | Shandong University |
| authorships[2].author_position | middle |
| authorships[2].raw_author_name | Tianliang Hu |
| authorships[2].is_corresponding | False |
| authorships[2].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[3].author.id | https://openalex.org/A5100348946 |
| authorships[3].author.orcid | https://orcid.org/0000-0002-6262-2599 |
| authorships[3].author.display_name | Teng Wang |
| authorships[3].countries | CN |
| authorships[3].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[3].affiliations[0].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[3].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[3].affiliations[1].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[3].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[3].affiliations[2].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[3].institutions[0].id | https://openalex.org/I154099455 |
| authorships[3].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[3].institutions[0].type | education |
| authorships[3].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[3].institutions[0].country_code | CN |
| authorships[3].institutions[0].display_name | Shandong University |
| authorships[3].author_position | middle |
| authorships[3].raw_author_name | Teng Wang |
| authorships[3].is_corresponding | False |
| authorships[3].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[4].author.id | https://openalex.org/A5042472699 |
| authorships[4].author.orcid | https://orcid.org/0000-0002-5776-0997 |
| authorships[4].author.display_name | Qizhi Chen |
| authorships[4].countries | CN |
| authorships[4].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[4].affiliations[0].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[4].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[4].affiliations[1].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[4].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[4].affiliations[2].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[4].institutions[0].id | https://openalex.org/I154099455 |
| authorships[4].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[4].institutions[0].type | education |
| authorships[4].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[4].institutions[0].country_code | CN |
| authorships[4].institutions[0].display_name | Shandong University |
| authorships[4].author_position | middle |
| authorships[4].raw_author_name | Qizhi Chen |
| authorships[4].is_corresponding | False |
| authorships[4].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[5].author.id | https://openalex.org/A5100408351 |
| authorships[5].author.orcid | https://orcid.org/0000-0002-4353-3283 |
| authorships[5].author.display_name | Chao Chen |
| authorships[5].countries | CN |
| authorships[5].affiliations[0].institution_ids | https://openalex.org/I154099455 |
| authorships[5].affiliations[0].raw_affiliation_string | National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China |
| authorships[5].affiliations[1].institution_ids | https://openalex.org/I154099455 |
| authorships[5].affiliations[1].raw_affiliation_string | School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| authorships[5].affiliations[2].institution_ids | https://openalex.org/I154099455 |
| authorships[5].affiliations[2].raw_affiliation_string | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China |
| authorships[5].institutions[0].id | https://openalex.org/I154099455 |
| authorships[5].institutions[0].ror | https://ror.org/0207yh398 |
| authorships[5].institutions[0].type | education |
| authorships[5].institutions[0].lineage | https://openalex.org/I154099455 |
| authorships[5].institutions[0].country_code | CN |
| authorships[5].institutions[0].display_name | Shandong University |
| authorships[5].author_position | last |
| authorships[5].raw_author_name | Chao Chen |
| authorships[5].is_corresponding | False |
| authorships[5].raw_affiliation_strings | Key Laboratory of High Efficiency and Clean Mechanical Manufacture at Shandong University, Ministry of Education, Jinan, People's Republic of China, National Demonstration Center for Experimental Mechanical Engineering Education, Shandong University, Jinan, People's Republic of China, School of Mechanical Engineering, Shandong University, Jinan, People's Republic of China |
| has_content.pdf | True |
| has_content.grobid_xml | True |
| is_paratext | False |
| open_access.is_oa | True |
| open_access.oa_url | https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217 |
| open_access.oa_status | gold |
| open_access.any_repository_has_fulltext | False |
| created_date | 2025-10-10T00:00:00 |
| display_name | A dynamic parameter identification method of industrial robots considering joint elasticity |
| has_fulltext | False |
| is_retracted | False |
| updated_date | 2025-11-06T03:46:38.306776 |
| primary_topic.id | https://openalex.org/T10571 |
| primary_topic.field.id | https://openalex.org/fields/22 |
| primary_topic.field.display_name | Engineering |
| primary_topic.score | 0.9980999827384949 |
| primary_topic.domain.id | https://openalex.org/domains/3 |
| primary_topic.domain.display_name | Physical Sciences |
| primary_topic.subfield.id | https://openalex.org/subfields/2207 |
| primary_topic.subfield.display_name | Control and Systems Engineering |
| primary_topic.display_name | Robotic Mechanisms and Dynamics |
| related_works | https://openalex.org/W1992503747, https://openalex.org/W2371519816, https://openalex.org/W2043154226, https://openalex.org/W2369529107, https://openalex.org/W2329043542, https://openalex.org/W2109948066, https://openalex.org/W1678858522, https://openalex.org/W3195090107, https://openalex.org/W1999333556, https://openalex.org/W4317937281 |
| cited_by_count | 25 |
| counts_by_year[0].year | 2025 |
| counts_by_year[0].cited_by_count | 4 |
| counts_by_year[1].year | 2024 |
| counts_by_year[1].cited_by_count | 3 |
| counts_by_year[2].year | 2023 |
| counts_by_year[2].cited_by_count | 4 |
| counts_by_year[3].year | 2022 |
| counts_by_year[3].cited_by_count | 7 |
| counts_by_year[4].year | 2021 |
| counts_by_year[4].cited_by_count | 1 |
| counts_by_year[5].year | 2020 |
| counts_by_year[5].cited_by_count | 5 |
| counts_by_year[6].year | 2019 |
| counts_by_year[6].cited_by_count | 1 |
| locations_count | 2 |
| best_oa_location.id | doi:10.1177/1729881418825217 |
| best_oa_location.is_oa | True |
| best_oa_location.source.id | https://openalex.org/S169266912 |
| best_oa_location.source.issn | 1729-8806, 1729-8814 |
| best_oa_location.source.type | journal |
| best_oa_location.source.is_oa | True |
| best_oa_location.source.issn_l | 1729-8806 |
| best_oa_location.source.is_core | True |
| best_oa_location.source.is_in_doaj | True |
| best_oa_location.source.display_name | International Journal of Advanced Robotic Systems |
| best_oa_location.source.host_organization | https://openalex.org/P4310320017 |
| best_oa_location.source.host_organization_name | SAGE Publishing |
| best_oa_location.source.host_organization_lineage | https://openalex.org/P4310320017 |
| best_oa_location.source.host_organization_lineage_names | SAGE Publishing |
| best_oa_location.license | cc-by |
| best_oa_location.pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217 |
| best_oa_location.version | publishedVersion |
| best_oa_location.raw_type | journal-article |
| best_oa_location.license_id | https://openalex.org/licenses/cc-by |
| best_oa_location.is_accepted | True |
| best_oa_location.is_published | True |
| best_oa_location.raw_source_name | International Journal of Advanced Robotic Systems |
| best_oa_location.landing_page_url | https://doi.org/10.1177/1729881418825217 |
| primary_location.id | doi:10.1177/1729881418825217 |
| primary_location.is_oa | True |
| primary_location.source.id | https://openalex.org/S169266912 |
| primary_location.source.issn | 1729-8806, 1729-8814 |
| primary_location.source.type | journal |
| primary_location.source.is_oa | True |
| primary_location.source.issn_l | 1729-8806 |
| primary_location.source.is_core | True |
| primary_location.source.is_in_doaj | True |
| primary_location.source.display_name | International Journal of Advanced Robotic Systems |
| primary_location.source.host_organization | https://openalex.org/P4310320017 |
| primary_location.source.host_organization_name | SAGE Publishing |
| primary_location.source.host_organization_lineage | https://openalex.org/P4310320017 |
| primary_location.source.host_organization_lineage_names | SAGE Publishing |
| primary_location.license | cc-by |
| primary_location.pdf_url | https://journals.sagepub.com/doi/pdf/10.1177/1729881418825217 |
| primary_location.version | publishedVersion |
| primary_location.raw_type | journal-article |
| primary_location.license_id | https://openalex.org/licenses/cc-by |
| primary_location.is_accepted | True |
| primary_location.is_published | True |
| primary_location.raw_source_name | International Journal of Advanced Robotic Systems |
| primary_location.landing_page_url | https://doi.org/10.1177/1729881418825217 |
| publication_date | 2019-01-01 |
| publication_year | 2019 |
| referenced_works | https://openalex.org/W2518735096, https://openalex.org/W2759354526, https://openalex.org/W2610961808, https://openalex.org/W2792903075, https://openalex.org/W2790415680, https://openalex.org/W4249474302, https://openalex.org/W2052324963, https://openalex.org/W421662763, https://openalex.org/W2053973063, https://openalex.org/W2138037582, https://openalex.org/W2016908760, https://openalex.org/W2148291072, https://openalex.org/W2619825644, https://openalex.org/W2103090041, https://openalex.org/W2324110650, https://openalex.org/W1983241812, https://openalex.org/W2736787881, https://openalex.org/W1970752792, https://openalex.org/W2169164876, https://openalex.org/W2035587171, https://openalex.org/W2927638312, https://openalex.org/W4251869608, https://openalex.org/W3147526103, https://openalex.org/W4365800133, https://openalex.org/W3139610437, https://openalex.org/W4251185074 |
| referenced_works_count | 26 |
| abstract_inverted_index.a | 4, 212 |
| abstract_inverted_index.an | 123 |
| abstract_inverted_index.be | 51, 89, 102, 147, 172, 202 |
| abstract_inverted_index.by | 53 |
| abstract_inverted_index.is | 10, 40, 65, 94, 127 |
| abstract_inverted_index.it | 93 |
| abstract_inverted_index.of | 24, 70, 73, 86, 112, 139, 156, 182, 214, 223 |
| abstract_inverted_index.on | 185, 208 |
| abstract_inverted_index.to | 133, 149, 218 |
| abstract_inverted_index.The | 37, 62 |
| abstract_inverted_index.and | 32, 120, 153, 159, 194 |
| abstract_inverted_index.are | 30, 164, 216 |
| abstract_inverted_index.can | 50, 88, 101, 146, 171, 201 |
| abstract_inverted_index.for | 12 |
| abstract_inverted_index.not | 165 |
| abstract_inverted_index.the | 1, 21, 25, 41, 46, 54, 59, 66, 71, 74, 78, 97, 105, 109, 117, 130, 135, 143, 151, 154, 157, 168, 175, 180, 189, 198, 220, 224 |
| abstract_inverted_index.two | 35, 84 |
| abstract_inverted_index.With | 188 |
| abstract_inverted_index.each | 209 |
| abstract_inverted_index.from | 104 |
| abstract_inverted_index.good | 221 |
| abstract_inverted_index.into | 34 |
| abstract_inverted_index.only | 16, 44 |
| abstract_inverted_index.rest | 72 |
| abstract_inverted_index.that | 96 |
| abstract_inverted_index.type | 39, 64 |
| abstract_inverted_index.with | 17 |
| abstract_inverted_index.After | 115 |
| abstract_inverted_index.first | 38 |
| abstract_inverted_index.found | 95 |
| abstract_inverted_index.joint | 2, 27, 47, 121, 160 |
| abstract_inverted_index.least | 144 |
| abstract_inverted_index.model | 29, 138 |
| abstract_inverted_index.motor | 18, 131 |
| abstract_inverted_index.needs | 77 |
| abstract_inverted_index.noise | 184 |
| abstract_inverted_index.novel | 5 |
| abstract_inverted_index.other | 113, 140 |
| abstract_inverted_index.robot | 176 |
| abstract_inverted_index.rotor | 98, 118 |
| abstract_inverted_index.these | 83 |
| abstract_inverted_index.types | 85 |
| abstract_inverted_index.which | 49, 76, 107, 178 |
| abstract_inverted_index.Hence, | 142 |
| abstract_inverted_index.double | 206 |
| abstract_inverted_index.effect | 181 |
| abstract_inverted_index.joint. | 210 |
| abstract_inverted_index.linear | 136 |
| abstract_inverted_index.method | 9 |
| abstract_inverted_index.model. | 61 |
| abstract_inverted_index.robots | 15 |
| abstract_inverted_index.second | 63 |
| abstract_inverted_index.series | 213 |
| abstract_inverted_index.static | 55 |
| abstract_inverted_index.types. | 36 |
| abstract_inverted_index.divided | 33 |
| abstract_inverted_index.dynamic | 6, 28, 60, 79, 199 |
| abstract_inverted_index.elastic | 26 |
| abstract_inverted_index.general | 13 |
| abstract_inverted_index.inertia | 99, 119, 158 |
| abstract_inverted_index.method. | 226 |
| abstract_inverted_index.reduces | 108, 179 |
| abstract_inverted_index.squares | 145 |
| abstract_inverted_index.unknown | 22 |
| abstract_inverted_index.viscous | 161 |
| abstract_inverted_index.without | 58, 205 |
| abstract_inverted_index.Finally, | 211 |
| abstract_inverted_index.Firstly, | 20 |
| abstract_inverted_index.analyzed | 31 |
| abstract_inverted_index.composed | 69 |
| abstract_inverted_index.employed | 148 |
| abstract_inverted_index.encoders | 207 |
| abstract_inverted_index.evaluate | 219 |
| abstract_inverted_index.exciting | 169 |
| abstract_inverted_index.friction | 132, 162 |
| abstract_inverted_index.identify | 150 |
| abstract_inverted_index.obtained | 103, 203 |
| abstract_inverted_index.proposed | 11, 128, 190, 225 |
| abstract_inverted_index.strategy | 193 |
| abstract_inverted_index.accuracy. | 187 |
| abstract_inverted_index.affected. | 166 |
| abstract_inverted_index.algorithm | 126 |
| abstract_inverted_index.conducted | 217 |
| abstract_inverted_index.encoders. | 19 |
| abstract_inverted_index.establish | 134 |
| abstract_inverted_index.including | 45 |
| abstract_inverted_index.obtaining | 116 |
| abstract_inverted_index.optimized | 173 |
| abstract_inverted_index.parameter | 7, 43, 68 |
| abstract_inverted_index.precisely | 204 |
| abstract_inverted_index.separated | 191 |
| abstract_inverted_index.Meanwhile, | 92, 167 |
| abstract_inverted_index.Therefore, | 82 |
| abstract_inverted_index.algorithm, | 197 |
| abstract_inverted_index.difficulty | 111 |
| abstract_inverted_index.excitation | 80 |
| abstract_inverted_index.identified | 52, 90 |
| abstract_inverted_index.industrial | 14 |
| abstract_inverted_index.parameters | 23, 87, 100, 163, 200 |
| abstract_inverted_index.processing | 125, 196 |
| abstract_inverted_index.stiffness, | 48, 122 |
| abstract_inverted_index.throughout | 174 |
| abstract_inverted_index.workspace, | 177 |
| abstract_inverted_index.Considering | 0 |
| abstract_inverted_index.approximate | 124, 195 |
| abstract_inverted_index.considering | 129 |
| abstract_inverted_index.elasticity, | 3 |
| abstract_inverted_index.experiments | 57 |
| abstract_inverted_index.measurement | 183 |
| abstract_inverted_index.parameters, | 75, 152 |
| abstract_inverted_index.parameters. | 114, 141 |
| abstract_inverted_index.performance | 222 |
| abstract_inverted_index.separately. | 91 |
| abstract_inverted_index.simulations | 215 |
| abstract_inverted_index.experiments. | 81 |
| abstract_inverted_index.independence | 155 |
| abstract_inverted_index.trajectories | 170 |
| abstract_inverted_index.manufacturer, | 106 |
| abstract_inverted_index.identification | 8, 110, 137, 186, 192 |
| abstract_inverted_index.motion-dependent | 67 |
| abstract_inverted_index.motion-independent | 42 |
| abstract_inverted_index.force/torque-deformation | 56 |
| cited_by_percentile_year.max | 99 |
| cited_by_percentile_year.min | 89 |
| corresponding_author_ids | https://openalex.org/A5077452145 |
| countries_distinct_count | 1 |
| institutions_distinct_count | 6 |
| corresponding_institution_ids | https://openalex.org/I154099455 |
| citation_normalized_percentile.value | 0.88539967 |
| citation_normalized_percentile.is_in_top_1_percent | False |
| citation_normalized_percentile.is_in_top_10_percent | False |