{"id":"https://openalex.org/W4390585858","doi":"https://doi.org/10.1017/s0263574723001789","title":"Kinematics inverse solution of assembly robot based on improved particle swarm optimization","display_name":"Kinematics inverse solution of assembly robot based on improved particle swarm optimization","publication_year":2024,"publication_date":"2024-01-04","ids":{"openalex":"https://openalex.org/W4390585858","doi":"https://doi.org/10.1017/s0263574723001789"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574723001789","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001789","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/A5101785325","display_name":"Shixiong Zhang","orcid":"https://orcid.org/0000-0002-3816-839X"},"institutions":[{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Shixiong Zhang","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I36152291"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Ang Li","orcid":"https://orcid.org/0009-0006-8943-4500"},"institutions":[{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ang Li","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China"],"raw_orcid":"https://orcid.org/0009-0006-8943-4500","affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I36152291"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100943039","display_name":"Jianxin Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianxin Ren","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I36152291"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5111106409","display_name":"Ruilong Ren","orcid":null},"institutions":[{"id":"https://openalex.org/I36152291","display_name":"Henan University of Technology","ror":"https://ror.org/05sbgwt55","country_code":"CN","type":"education","lineage":["https://openalex.org/I36152291"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Ruilong Ren","raw_affiliation_strings":["School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Mechanical and Electrical Engineering, Henan University of Technology, Zhengzhou, China","institution_ids":["https://openalex.org/I36152291"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5101785325"],"corresponding_institution_ids":["https://openalex.org/I36152291"],"apc_list":null,"apc_paid":null,"fwci":4.8008,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.953216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"42","issue":"3","first_page":"833","last_page":"845"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9987999796867371,"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":0.9987999796867371,"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9908000230789185,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9677000045776367,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.8113826513290405},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.6367560029029846},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5514640212059021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.518215000629425},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.49762728810310364},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.44431447982788086},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.43635720014572144},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4334244728088379},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4234270751476288},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3573533296585083},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2185603678226471},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20242562890052795},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05510514974594116}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8113826513290405},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.6367560029029846},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5514640212059021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.518215000629425},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.49762728810310364},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.44431447982788086},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.43635720014572144},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4334244728088379},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4234270751476288},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3573533296585083},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2185603678226471},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20242562890052795},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05510514974594116},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574723001789","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574723001789","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":17,"referenced_works":["https://openalex.org/W806292010","https://openalex.org/W2005872817","https://openalex.org/W2573137292","https://openalex.org/W2592599276","https://openalex.org/W2984441430","https://openalex.org/W3010384577","https://openalex.org/W3045540573","https://openalex.org/W3133408962","https://openalex.org/W3175793133","https://openalex.org/W3183364131","https://openalex.org/W3211817439","https://openalex.org/W4226071192","https://openalex.org/W4237175980","https://openalex.org/W4280521364","https://openalex.org/W4307288036","https://openalex.org/W4388052658","https://openalex.org/W6810688559"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"Abstract":[0],"Inverse":[1],"kinematics":[2,147,189],"of":[3,8,16,41,64,81,108,130,191],"robot":[4,9,28,141,144],"is":[5,24,57],"the":[6,14,19,27,39,47,61,69,78,82,104,111,128,158,172,176,187,192],"basis":[7],"assembly,":[10],"which":[11,181],"directly":[12],"determines":[13],"pose":[15,32],"robot.":[17,65,194],"Because":[18],"traditional":[20],"inverse":[21,34,62,146,173,188],"solution":[22,35,185,190],"algorithm":[23,56,67,161,177],"limited":[25],"by":[26],"topology":[29],"structure,":[30],"singular":[31,134],"and":[33,92,106,133,142,166,175],"accuracy,":[36],"it":[37],"affects":[38],"use":[40],"robots.":[42],"In":[43,84],"order":[44,85],"to":[45,59,86,102,121],"solve":[46,60],"above":[48],"problems,":[49],"an":[50],"improved":[51,159],"particle":[52,70],"swarm":[53],"optimization":[54],"(PSO)":[55],"proposed":[58,97],"problem":[63],"This":[66],"initializes":[68],"population":[71],"based":[72],"on":[73,138],"joint":[74,125],"angle":[75],"limitations,":[76],"accelerating":[77],"convergence":[79,164,168],"speed":[80,105,169],"algorithm.":[83],"avoid":[87],"falling":[88],"into":[89],"local":[90],"optima":[91],"premature":[93],"convergence,":[94],"we":[95],"have":[96],"a":[98,118,183],"nonlinear":[99],"weight":[100],"strategy":[101],"update":[103],"position":[107],"particles,":[109],"enhancing":[110],"algorithm\u2019s":[112],"search":[113],"ability,":[114],"in":[115,170],"addition":[116],"introducing":[117],"penalty":[119],"function":[120],"eliminate":[122],"particles":[123],"exceeding":[124],"limits.":[126],"Finally,":[127],"positions":[129],"common":[131],"points":[132,135],"are":[136],"selected":[137],"PUMA":[139],"560":[140],"redundant":[143],"for":[145,186],"simulation":[148],"verification.":[149],"The":[150],"results":[151],"show":[152],"that,":[153],"compared":[154],"with":[155],"other":[156],"algorithms,":[157],"PSO":[160],"has":[162,178],"higher":[163],"accuracy":[165],"better":[167],"solving":[171],"solution,":[174],"certain":[179],"universality,":[180],"provides":[182],"new":[184],"assembly":[193]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}