{"created":"2025-02-21T03:39:35.677267+00:00","id":2007043,"links":{},"metadata":{"_buckets":{"deposit":"4f0818e8-df7d-4f5b-b134-e4ca1e0b728c"},"_deposit":{"created_by":41,"id":"2007043","owners":[41],"pid":{"revision_id":0,"type":"depid","value":"2007043"},"status":"published"},"_oai":{"id":"oai:hiroshima.repo.nii.ac.jp:02007043","sets":["1730444907710"]},"author_link":[],"item_1617186331708":{"attribute_name":"Title","attribute_value_mlt":[{"subitem_title":"Inclusion of bidirectional angular positioning deviations in the kinematic model of a 6DOF articulated robot for static volumetric error compensation","subitem_title_language":"en"}]},"item_1617186419668":{"attribute_name":"Creator","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"Alam, Md Moktadir","creatorNameLang":"en"}],"familyNames":[{"familyName":"Alam","familyNameLang":"en"}],"givenNames":[{"givenName":"Md Moktadir","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Ibaraki, Soichi","creatorNameLang":"en"}],"familyNames":[{"familyName":"Ibaraki","familyNameLang":"en"}],"givenNames":[{"givenName":"Soichi","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Fukuda, Koki","creatorNameLang":"en"}],"familyNames":[{"familyName":"Fukuda","familyNameLang":"en"}],"givenNames":[{"givenName":"Koki","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Morita, Sho","creatorNameLang":"en"}],"familyNames":[{"familyName":"Morita","familyNameLang":"en"}],"givenNames":[{"givenName":"Sho","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Usuki, Hiroshi","creatorNameLang":"en"}],"familyNames":[{"familyName":"Usuki","familyNameLang":"en"}],"givenNames":[{"givenName":"Hiroshi","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Otsuki, Naohiro","creatorNameLang":"en"}],"familyNames":[{"familyName":"Otsuki","familyNameLang":"en"}],"givenNames":[{"givenName":"Naohiro","givenNameLang":"en"}]},{"creatorNames":[{"creatorName":"Yoshioka, Hirotaka","creatorNameLang":"en"}],"familyNames":[{"familyName":"Yoshioka","familyNameLang":"en"}],"givenNames":[{"givenName":"Hirotaka","givenNameLang":"en"}]}]},"item_1617186476635":{"attribute_name":"Access Rights","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_1617186499011":{"attribute_name":"Rights","attribute_value_mlt":[{"subitem_rights":"© 2022 IEEE.  Personal use of this material is permitted.  Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.","subitem_rights_language":"en"},{"subitem_rights":"This is not the published version. Please cite only the published version.","subitem_rights_language":"en"},{"subitem_rights":"この論文は出版社版ではありません。引用の際には出版社版をご確認、ご利用ください。","subitem_rights_language":"ja"}]},"item_1617186609386":{"attribute_name":"Subject","attribute_value_mlt":[{"subitem_subject":"Industrial Robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Kinematic Model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Angular Positioning Deviation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Laser Tracker","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Lookup table","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_1617186626617":{"attribute_name":"Description","attribute_value_mlt":[{"subitem_description":"To improve a robot’s absolute positioning accuracy, researchers have extensively studied the robot kinematic model containing position and orientation errors of rotary axes average lines, widely known as Denavit–Hartenberg (D-H) parameters. To further improve the absolute positioning accuracy of industrial robots, this paper proposes a novel kinematic model and its identification scheme. The proposed kinematic model for a serial-linked industrial robot contains the bidirectional angular positioning deviations of each rotary axis, represented in a lookup table, in addition to its D-H parameters. The angular positioning deviations of the rotary axes are modeled as a function of angular command positions, along with the direction of rotation to model the influence of backlash. This paper also proposes a novel approach to identify the proposed kinematic model with the bidirectional angular positioning deviations using a laser tracker with indexing each rotary axis at specified angular positions (“circle point method\"). Moreover, the model-based compensation technique is being experimentally investigated to validate the prediction accuracy of the proposed model. The findings o f t he experiment showed t hat t he proposed model enhances the robot’s absolute positioning accuracy significantly over the entire workspace.","subitem_description_language":"en"}]},"item_1617186643794":{"attribute_name":"Publisher","attribute_value_mlt":[{"subitem_publisher":"IEEE","subitem_publisher_language":"en"}]},"item_1617186702042":{"attribute_name":"Language","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_1617186901218":{"attribute_name":"Funding Reference","attribute_value_mlt":[{"subitem_award_numbers":{"subitem_award_number":"18K03874","subitem_award_uri":"https://kaken.nii.ac.jp/ja/grant/KAKENHI-PROJECT-18K03874/"},"subitem_award_titles":[{"subitem_award_title":"「ポータブル」ロボット切削加工システムの基礎となる空間精度の新しい測定法","subitem_award_title_language":"ja"}],"subitem_funder_names":[{"subitem_funder_name":"日本学術振興会","subitem_funder_name_language":"ja"}]},{"subitem_award_titles":[{"subitem_award_title":"「ポータブル」ロボット切削加工システムの基礎となる空間精度の新しい測定法","subitem_award_title_language":"ja"}],"subitem_funder_names":[{"subitem_funder_name":"Japan Society for the Promotion of Science","subitem_funder_name_language":"en"}]}]},"item_1617186920753":{"attribute_name":"Source Identifier","attribute_value_mlt":[{"subitem_source_identifier":"1941-014X","subitem_source_identifier_type":"EISSN"}]},"item_1617187024783":{"attribute_name":"Page Start","attribute_value_mlt":[{"subitem_start_page":"4339"}]},"item_1617187056579":{"attribute_name":"Bibliographic Information","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2022-03-18","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"6","bibliographicPageEnd":"4349","bibliographicPageStart":"4339","bibliographicVolumeNumber":"27","bibliographic_titles":[{"bibliographic_title":"IEEE/ASME Transactions on Mechatronics","bibliographic_titleLang":"en"}]}]},"item_1617258105262":{"attribute_name":"Resource Type","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_1617265215918":{"attribute_name":"Version Type","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_ab4af688f83e57aa","subitem_version_type":"AM"}]},"item_1617353299429":{"attribute_name":"Relation","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://doi.org/10.1109/TMECH.2022.3156056","subitem_relation_type_select":"DOI"}}]},"item_1617605131499":{"attribute_name":"File","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2024-03-18"}],"displaytype":"simple","fileDate":[{"fileDateType":"Available","fileDateValue":"2024-03-18"}],"filename":"IEEE_ASME_TM_27-6_4339.pdf","filesize":[{"value":"111.1 MB"}],"mimetype":"application/pdf","url":{"objectType":"fulltext","url":"https://hiroshima.repo.nii.ac.jp/record/2007043/files/IEEE_ASME_TM_27-6_4339.pdf"},"version_id":"32627693-ae2f-4cbb-8a13-4a67e47f22f1"}]},"item_1732771732025":{"attribute_name":"旧ID","attribute_value":"54005"},"item_1732772494514":{"attribute_name":"備考","attribute_value":"The full-text file will be made open to the public on 18 Mar 2024 in accordance with publisher's 'Terms and Conditions for Self-Archiving'."},"item_title":"Inclusion of bidirectional angular positioning deviations in the kinematic model of a 6DOF articulated robot for static volumetric error compensation","item_type_id":"40003","owner":"41","path":["1730444907710"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2023-06-27"},"publish_date":"2023-06-27","publish_status":"0","recid":"2007043","relation_version_is_last":true,"title":["Inclusion of bidirectional angular positioning deviations in the kinematic model of a 6DOF articulated robot for static volumetric error compensation"],"weko_creator_id":"41","weko_shared_id":-1},"updated":"2025-02-21T09:01:37.096632+00:00"}