{"id":"https://openalex.org/W2092307778","doi":"https://doi.org/10.1017/s0263574704000414","title":"Kinematics control of redundant manipulators using a CMAC neural network combined with a genetic algorithm","display_name":"Kinematics control of redundant manipulators using a CMAC neural network combined with a genetic algorithm","publication_year":2004,"publication_date":"2004-11-01","ids":{"openalex":"https://openalex.org/W2092307778","doi":"https://doi.org/10.1017/s0263574704000414","mag":"2092307778"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574704000414","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000414","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"},"type":"article","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/A5027712402","display_name":"Yangmin Li","orcid":"https://orcid.org/0000-0002-4448-3310"},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":true,"raw_author_name":"Yangmin Li","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macau SAR (P.R.China","Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR, PRC#TAB#"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macau SAR (P.R.China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR, PRC#TAB#","institution_ids":["https://openalex.org/I204512498"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011613833","display_name":"Sio Hong Leong","orcid":null},"institutions":[{"id":"https://openalex.org/I204512498","display_name":"University of Macau","ror":"https://ror.org/01r4q9n85","country_code":"MO","type":"education","lineage":["https://openalex.org/I204512498"]}],"countries":["MO"],"is_corresponding":false,"raw_author_name":"Sio Hong Leong","raw_affiliation_strings":["Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macau SAR (P.R.China","Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR (P.R.China)"],"affiliations":[{"raw_affiliation_string":"Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Av. Padre Tom\u00e1s Pereira S.J., Taipa, Macau SAR (P.R.China","institution_ids":["https://openalex.org/I204512498"]},{"raw_affiliation_string":"Dept. of Electromech. Eng., Fac. of Sci. and Technol., Univ. of Macau, Taipa, Macau SAR (P.R.China)","institution_ids":["https://openalex.org/I204512498"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5027712402"],"corresponding_institution_ids":["https://openalex.org/I204512498"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.11365514,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"22","issue":"6","first_page":"611","last_page":"621"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9753999710083008,"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"}},"topics":[{"id":"https://openalex.org/T10320","display_name":"Neural Networks and Applications","score":0.9753999710083008,"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/T14474","display_name":"Industrial Technology and Control Systems","score":0.9739000201225281,"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/T10820","display_name":"Fuzzy Logic and Control Systems","score":0.9696999788284302,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/cerebellar-model-articulation-controller","display_name":"Cerebellar model articulation controller","score":0.841245174407959},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.712232768535614},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6837058067321777},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6673951745033264},{"id":"https://openalex.org/keywords/genetic-algorithm","display_name":"Genetic algorithm","score":0.6471959352493286},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.616059422492981},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6083446145057678},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.5111876130104065},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.47273388504981995},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4482809901237488},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4431532323360443},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.40304338932037354},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.4028141498565674},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3427889347076416},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.33734914660453796},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.30881160497665405},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24022707343101501},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09040120244026184}],"concepts":[{"id":"https://openalex.org/C2780576740","wikidata":"https://www.wikidata.org/wiki/Q5064071","display_name":"Cerebellar model articulation controller","level":3,"score":0.841245174407959},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.712232768535614},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6837058067321777},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6673951745033264},{"id":"https://openalex.org/C8880873","wikidata":"https://www.wikidata.org/wiki/Q187787","display_name":"Genetic algorithm","level":2,"score":0.6471959352493286},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.616059422492981},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6083446145057678},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.5111876130104065},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.47273388504981995},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4482809901237488},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4431532323360443},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.40304338932037354},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.4028141498565674},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3427889347076416},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.33734914660453796},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.30881160497665405},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24022707343101501},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09040120244026184},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574704000414","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574704000414","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":8,"referenced_works":["https://openalex.org/W1549134978","https://openalex.org/W1562919956","https://openalex.org/W1997650413","https://openalex.org/W2112032710","https://openalex.org/W2144908914","https://openalex.org/W2171486325","https://openalex.org/W3127714065","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W1971821535","https://openalex.org/W2811382984","https://openalex.org/W2119719871","https://openalex.org/W2375200650","https://openalex.org/W2366276599","https://openalex.org/W4386631294","https://openalex.org/W2357499095","https://openalex.org/W3126987580"],"abstract_inverted_index":{"A":[0],"method":[1],"is":[2],"proposed":[3,45],"to":[4],"solve":[5],"the":[6,41,44],"inverse":[7],"kinematics":[8],"and":[9,31],"control":[10,14],"problems":[11],"of":[12,43],"robot":[13],"systems":[15],"using":[16],"a":[17,26,34],"cerebellar":[18],"model":[19],"articulation":[20],"controller":[21],"neural":[22],"network":[23],"combined":[24],"with":[25,33],"genetic":[27],"algorithm.":[28],"Computer":[29],"simulations":[30],"experiments":[32],"7-DOF":[35],"redundant":[36],"modular":[37],"manipulator":[38],"have":[39],"demonstrated":[40],"effectiveness":[42],"method.":[46]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}