{"id":"https://openalex.org/W4403220661","doi":"https://doi.org/10.1108/ir-08-2024-0355","title":"EMSA-IK: a real-time evolutionary multi-objective semi-analytical inverse kinematics algorithm for redundant manipulators","display_name":"EMSA-IK: a real-time evolutionary multi-objective semi-analytical inverse kinematics algorithm for redundant manipulators","publication_year":2024,"publication_date":"2024-10-08","ids":{"openalex":"https://openalex.org/W4403220661","doi":"https://doi.org/10.1108/ir-08-2024-0355"},"language":"en","primary_location":{"id":"doi:10.1108/ir-08-2024-0355","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2024-0355","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","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/A5100669600","display_name":"Zhaoyang Chen","orcid":"https://orcid.org/0000-0002-2743-6811"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhaoyang Chen","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114003488","display_name":"Kang Min","orcid":null},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kang Min","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002749342","display_name":"Xinyang Fan","orcid":"https://orcid.org/0000-0002-4215-1590"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xinyang Fan","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080568603","display_name":"Baoxu Tu","orcid":"https://orcid.org/0000-0002-8786-0497"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Baoxu Tu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100410375","display_name":"Hong Liu","orcid":"https://orcid.org/0000-0003-4543-7663"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hong Liu","raw_affiliation_strings":["State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China","institution_ids":["https://openalex.org/I204983213"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.8146,"has_fulltext":false,"cited_by_count":3,"citation_normalized_percentile":{"value":0.73414293,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":98},"biblio":{"volume":"52","issue":"2","first_page":"249","last_page":"257"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.9969000220298767,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9868000149726868,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7255821824073792},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.675098717212677},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.531633734703064},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48795193433761597},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.46289175748825073},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.40110301971435547},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3887999951839447},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38610976934432983},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16787534952163696},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.16098040342330933},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13598236441612244},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.0979732871055603}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7255821824073792},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.675098717212677},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.531633734703064},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48795193433761597},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.46289175748825073},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.40110301971435547},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3887999951839447},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38610976934432983},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16787534952163696},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.16098040342330933},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13598236441612244},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0979732871055603},{"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:10.1108/ir-08-2024-0355","is_oa":false,"landing_page_url":"https://doi.org/10.1108/ir-08-2024-0355","pdf_url":null,"source":{"id":"https://openalex.org/S166948985","display_name":"Industrial Robot the international journal of robotics research and application","issn_l":"0143-991X","issn":["0143-991X","1758-5791"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319811","host_organization_name":"Emerald Publishing Limited","host_organization_lineage":["https://openalex.org/P4310319811"],"host_organization_lineage_names":["Emerald Publishing Limited"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Industrial Robot: the international journal of robotics research and application","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W2110395933","https://openalex.org/W2117758942","https://openalex.org/W2126105956","https://openalex.org/W2205340216","https://openalex.org/W2805114031","https://openalex.org/W2811039944","https://openalex.org/W2889450890","https://openalex.org/W2962049270","https://openalex.org/W2979574110","https://openalex.org/W2980294776","https://openalex.org/W3089477571","https://openalex.org/W3093196803","https://openalex.org/W3101802923","https://openalex.org/W3135002132","https://openalex.org/W3184449717","https://openalex.org/W3197833702","https://openalex.org/W3211873077","https://openalex.org/W3216967825","https://openalex.org/W4365420472","https://openalex.org/W4383172022","https://openalex.org/W4387760219"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2898458249"],"abstract_inverted_index":{"Purpose":[0],"This":[1],"paper":[2],"aims":[3],"to":[4,32,75,85,173,195],"propose":[5],"a":[6],"real-time":[7,149],"evolutionary":[8,41,55,70,109],"multi-objective":[9,19,95,164],"semi-analytical":[10,45,153,175],"inverse":[11],"kinematics":[12],"(IK)":[13],"algorithm":[14,42,56,71,147,180,190],"(EMSA-IK)":[15],"for":[16,108,129,148,184],"solving":[17],"the":[18,27,34,40,60,68,81,87,101,104,117,142,145,178,185],"IK":[20,154,176],"of":[21,36,39,103,119,123,144],"redundant":[22,198],"manipulators.":[23],"Design/methodology/approach":[24],"Within":[25],"EMSA-IK,":[26],"parameterization":[28],"method":[29],"is":[30,57],"applied":[31],"reduce":[33],"number":[35],"optimization":[37],"variables":[38],"and":[43,125,135,163],"calculate":[44],"solutions":[46],"that":[47,67,93,156],"meet":[48],"high":[49,159],"target":[50,160],"pose":[51,161],"accuracy.":[52],"The":[53,152,188],"original":[54],"improved":[58,69,105],"with":[59,200,206],"proposed":[61,146,179,189],"adaptive":[62],"search":[63,79],"sub-space":[64],"strategy":[65,106],"so":[66],"can":[72,166],"be":[73,167],"used":[74,107],"efficiently":[76],"perform":[77],"global":[78,88],"within":[80],"parametric":[82,90],"joint":[83,91,133],"space":[84],"obtain":[86],"optimal":[89],"angles":[92],"satisfy":[94],"constraints.":[96],"Findings":[97],"Ablation":[98],"experiments":[99,112,139],"show":[100],"effectiveness":[102,143],"algorithms.":[110],"Comparative":[111],"on":[113],"different":[114],"manipulators":[115,199],"demonstrate":[116],"advantages":[118],"EMSA-IK":[120],"in":[121,169],"terms":[122],"generalizability":[124],"balancing":[126],"multiple":[127],"objectives,":[128],"example,":[130],"motion":[131],"continuity,":[132],"limits":[134],"obstacle":[136,182],"avoidance.":[137],"Real-world":[138],"further":[140],"validate":[141],"application.":[150],"Originality/value":[151],"solution":[155],"simultaneously":[157],"satisfies":[158],"accuracy":[162],"constraints":[165],"obtained":[168],"real":[170],"time.":[171,187],"Compared":[172],"existing":[174],"algorithms,":[177],"achieves":[181],"avoidance":[183],"first":[186],"demonstrates":[191],"superior":[192],"generalizability,":[193],"applicable":[194],"not":[196],"only":[197],"revolute":[201],"joints":[202],"but":[203],"also":[204],"those":[205],"prismatic":[207],"joints.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
