{"id":"https://openalex.org/W4395090691","doi":"https://doi.org/10.1109/iatmsi60426.2024.10503452","title":"Exploring Neural Networks for Forward Kinematics of the Robotic Arm with Different Length Configurations: A Comparative Analysis","display_name":"Exploring Neural Networks for Forward Kinematics of the Robotic Arm with Different Length Configurations: A Comparative Analysis","publication_year":2024,"publication_date":"2024-03-14","ids":{"openalex":"https://openalex.org/W4395090691","doi":"https://doi.org/10.1109/iatmsi60426.2024.10503452"},"language":"en","primary_location":{"id":"doi:10.1109/iatmsi60426.2024.10503452","doi":"https://doi.org/10.1109/iatmsi60426.2024.10503452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iatmsi60426.2024.10503452","pdf_url":null,"source":{"id":"https://openalex.org/S7407089240","display_name":"IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5050762833","display_name":"Rania Bouzid","orcid":"https://orcid.org/0009-0003-9641-1380","observed_orcids":["https://orcid.org/0009-0003-9641-1380"]},"institutions":[{"id":"https://openalex.org/I179097149","display_name":"University of Carthage","ror":"https://ror.org/057x6za15","country_code":"TN","type":"education","lineage":["https://openalex.org/I179097149"]},{"id":"https://openalex.org/I4405258171","display_name":"Institut Sup\u00e9rieur des Technologies de l'Information et de la Communication","ror":"https://ror.org/007szyf68","country_code":"TN","type":"education","lineage":["https://openalex.org/I4405258171"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Rania Bouzid","raw_affiliation_strings":["University of Carthage RISC Laboratory (LR16ES07),Higher Institute of Information and Communication Technologies,Borj Cedria,Tunisia,1164"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Carthage RISC Laboratory (LR16ES07),Higher Institute of Information and Communication Technologies,Borj Cedria,Tunisia,1164","institution_ids":["https://openalex.org/I179097149","https://openalex.org/I4405258171"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Jyotindra Narayan","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I1317621060","display_name":"Indian Institute of Technology Guwahati","ror":"https://ror.org/0022nd079","country_code":"IN","type":"education","lineage":["https://openalex.org/I1317621060"]}],"countries":["IN"],"is_corresponding":false,"raw_author_name":"Jyotindra Narayan","raw_affiliation_strings":["Indian Institute of Technology Guwahati,Mechatronics and Robotics Laboratory,Department of Mechanical Engineering,Guwahati,Assam,India,781039"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Indian Institute of Technology Guwahati,Mechatronics and Robotics Laboratory,Department of Mechanical Engineering,Guwahati,Assam,India,781039","institution_ids":["https://openalex.org/I1317621060"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5019458989","display_name":"Hass\u00e8ne Gritli","orcid":"https://orcid.org/0000-0002-5643-134X","observed_orcids":["https://orcid.org/0000-0002-5643-134X"]},"institutions":[{"id":"https://openalex.org/I4210131288","display_name":"National Engineering School of Tunis","ror":"https://ror.org/03b1zjt31","country_code":"TN","type":"education","lineage":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]},{"id":"https://openalex.org/I63596082","display_name":"Tunis El Manar University","ror":"https://ror.org/029cgt552","country_code":"TN","type":"education","lineage":["https://openalex.org/I63596082"]}],"countries":["TN"],"is_corresponding":false,"raw_author_name":"Hass\u00e8ne Gritli","raw_affiliation_strings":["University of Tunis El Manar,Laboratory of Robotics, Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis,Tunis,Tunisia,1002"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Tunis El Manar,Laboratory of Robotics, Informatics and Complex Systems (RISC Lab - LR16ES07) National Engineering School of Tunis,Tunis,Tunisia,1002","institution_ids":["https://openalex.org/I4210131288","https://openalex.org/I63596082"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.6229,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.94589558,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":93,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9580000042915344,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9580000042915344,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.03759999945759773,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.0005000000237487257,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"forward kinematics","score":0.9649999737739563},{"id":"https://openalex.org/keywords/robot-manipulators","display_name":"robot manipulators","score":0.8640000224113464},{"id":"https://openalex.org/keywords/neural-network","display_name":"artificial neural networks","score":0.9279999732971191},{"id":"https://openalex.org/keywords/serial-manipulators","display_name":"serial manipulators","score":0.6790000200271606},{"id":"https://openalex.org/keywords/bayesian-regularization","display_name":"Bayesian regularization","score":0.9869999885559082},{"id":"https://openalex.org/keywords/kinematic-estimation","display_name":"kinematic estimation","score":0.367000013589859}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8229571580886841},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.663066029548645},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6215206980705261},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5879971981048584},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.533714771270752},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4609892964363098},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.4255956709384918},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.420074462890625},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4103752374649048},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1798381209373474},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07950496673583984},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iatmsi60426.2024.10503452","doi":"https://doi.org/10.1109/iatmsi60426.2024.10503452","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iatmsi60426.2024.10503452","pdf_url":null,"source":{"id":"https://openalex.org/S7407089240","display_name":"IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Interdisciplinary Approaches in Technology and Management for Social Innovation (IATMSI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W37018364","https://openalex.org/W1564897360","https://openalex.org/W2069940557","https://openalex.org/W2156876426","https://openalex.org/W2167694888","https://openalex.org/W2729750029","https://openalex.org/W2984441430","https://openalex.org/W3023081529","https://openalex.org/W3127067343","https://openalex.org/W3184564316","https://openalex.org/W4226079289","https://openalex.org/W4232417336","https://openalex.org/W4296821529","https://openalex.org/W4306407720","https://openalex.org/W4309488838","https://openalex.org/W4391021346","https://openalex.org/W4399023919"],"related_works":["https://openalex.org/W4393140930","https://openalex.org/W4391021346","https://openalex.org/W4392943976","https://openalex.org/W7162511361","https://openalex.org/W4402970475","https://openalex.org/W2896481398","https://openalex.org/W4381953656","https://openalex.org/W6959661794","https://openalex.org/W2905072948","https://openalex.org/W4243002740"],"abstract_inverted_index":{"Our":[0],"work":[1],"investigates":[2],"the":[3,12,21,47,102,112,116],"utilization":[4],"of":[5,23,42,56,118,125],"Artificial":[6],"Neural":[7],"Networks":[8],"(ANNs)":[9],"to":[10,31],"address":[11],"complexities":[13],"associated":[14],"with":[15,39,129],"Forward":[16],"Kinematics":[17],"(FK)":[18],"problems":[19],"within":[20,101],"field":[22],"robotics.":[24],"We":[25],"undertake":[26],"an":[27],"extensive":[28],"comparative":[29],"analysis":[30],"assess":[32],"how":[33],"ANNs":[34,57],"perform":[35],"under":[36],"different":[37,130],"circumstances":[38],"robotic":[40,68,127],"arms":[41],"varying":[43],"lengths":[44,132],"and":[45,54,80,94,133],"impact":[46],"overall":[48],"system\u2019s":[49],"functionality.":[50],"The":[51],"training,":[52],"testing,":[53],"validation":[55],"are":[58,99],"carried":[59],"out":[60],"using":[61],"MATLAB":[62],"for":[63],"a":[64],"simulated":[65],"2-DoF":[66],"serial":[67],"arm":[69,131],"involving":[70],"three":[71],"distinct":[72],"datasets:":[73],"fixed":[74],"step":[75,78,82],"size,":[76,79],"random":[77],"sinusoidal":[81],"size.":[83],"Three":[84],"training":[85],"optimizers,":[86],"namely":[87],"Levenberg":[88],"Marquardt":[89],"(LM),":[90],"Bayesian":[91],"Regularization":[92],"(BR),":[93],"Stochastic":[95],"Conjugate":[96],"Gradient":[97],"(SCG),":[98],"considered":[100],"ANN":[103,119],"architecture.":[104],"Based":[105],"on":[106],"Mean":[107],"Square":[108],"Error":[109],"(MSE)":[110],"values,":[111],"numerical":[113],"findings":[114],"reveal":[115],"potential":[117],"in":[120],"estimating":[121],"forward":[122],"kinematic":[123],"solutions":[124],"complex":[126],"manipulators":[128],"reducing":[134],"computational":[135],"complexity.":[136]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":3}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2024-04-25T00:00:00"}
