{"id":"https://openalex.org/W4405717888","doi":"https://doi.org/10.1109/access.2024.3521539","title":"Inverse Kinematics of a 7-Degree-of-Freedom Robotic Arm Based on Deep Reinforcement Learning and Damped Least Squares","display_name":"Inverse Kinematics of a 7-Degree-of-Freedom Robotic Arm Based on Deep Reinforcement Learning and Damped Least Squares","publication_year":2024,"publication_date":"2024-12-23","ids":{"openalex":"https://openalex.org/W4405717888","doi":"https://doi.org/10.1109/access.2024.3521539"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3521539","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3521539","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3521539","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Shusheng Yu","orcid":"https://orcid.org/0009-0009-1626-7942"},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shusheng Yu","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, Sichuan, China","Sichuan University of Science and Engineering, Zigong, China"],"raw_orcid":"https://orcid.org/0009-0009-1626-7942","affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, Sichuan, China","institution_ids":["https://openalex.org/I64852412"]},{"raw_affiliation_string":"Sichuan University of Science and Engineering, Zigong, China","institution_ids":["https://openalex.org/I64852412"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048161901","display_name":"Gongquan Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I64852412","display_name":"Sichuan University of Science and Engineering","ror":"https://ror.org/053fzma23","country_code":"CN","type":"education","lineage":["https://openalex.org/I64852412"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Gongquan Tan","raw_affiliation_strings":["School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, Sichuan, China","Sichuan University of Science and Engineering, Zigong, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Automation and Information Engineering, Sichuan University of Science and Engineering, Yibin, Sichuan, China","institution_ids":["https://openalex.org/I64852412"]},{"raw_affiliation_string":"Sichuan University of Science and Engineering, Zigong, China","institution_ids":["https://openalex.org/I64852412"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I64852412"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":1.6292,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.84469424,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"13","issue":null,"first_page":"4857","last_page":"4868"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.8960000276565552,"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":0.8960000276565552,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.8086000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T10653","display_name":"Robot Manipulation and Learning","score":0.7749000191688538,"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":0.7513300180435181},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6758951544761658},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6531659960746765},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5353316068649292},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.520943284034729},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5197900533676147},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5193025469779968},{"id":"https://openalex.org/keywords/degree","display_name":"Degree (music)","score":0.5047873258590698},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.4678690433502197},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.4294726252555847},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.36303913593292236},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2889900207519531},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2607799172401428},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.1604691743850708},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.1266806423664093},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11896708607673645},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.10808548331260681},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10134652256965637},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06265568733215332}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7513300180435181},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6758951544761658},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6531659960746765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5353316068649292},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.520943284034729},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5197900533676147},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5193025469779968},{"id":"https://openalex.org/C2775997480","wikidata":"https://www.wikidata.org/wiki/Q586277","display_name":"Degree (music)","level":2,"score":0.5047873258590698},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.4678690433502197},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.4294726252555847},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.36303913593292236},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2889900207519531},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2607799172401428},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.1604691743850708},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.1266806423664093},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11896708607673645},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.10808548331260681},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10134652256965637},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06265568733215332},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3521539","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3521539","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:679ee60020904d03952888bbf15a985a","is_oa":true,"landing_page_url":"https://doaj.org/article/679ee60020904d03952888bbf15a985a","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 13, Pp 4857-4868 (2025)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3521539","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3521539","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.5099999904632568}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1997723929","https://openalex.org/W2004208581","https://openalex.org/W2037841262","https://openalex.org/W2093013148","https://openalex.org/W2100790457","https://openalex.org/W2239571531","https://openalex.org/W2773735557","https://openalex.org/W2954839131","https://openalex.org/W3109778264","https://openalex.org/W3205956306","https://openalex.org/W4214717370","https://openalex.org/W4391422825","https://openalex.org/W4399173291","https://openalex.org/W6637967152","https://openalex.org/W6684921986","https://openalex.org/W6741002519"],"related_works":["https://openalex.org/W4306904969","https://openalex.org/W2138720691","https://openalex.org/W4362501864","https://openalex.org/W4380318855","https://openalex.org/W3084456289","https://openalex.org/W2024136090","https://openalex.org/W2607470227","https://openalex.org/W4391331176","https://openalex.org/W2031695474","https://openalex.org/W2586732548"],"abstract_inverted_index":{"As":[0],"we":[1,51],"advance":[2],"towards":[3],"the":[4,7,57,68,75,89,108,184],"future":[5],"of":[6,24,115,124,143,148,190],"smart":[8],"manufacturing":[9],"industry,":[10],"our":[11],"research":[12],"focuses":[13],"on":[14],"enhancing":[15],"manipulator":[16],"technology.":[17],"Inverse":[18,78],"kinematics":[19,59],"is":[20],"a":[21,53,112,137,156],"key":[22],"component":[23],"robotic":[25,46,191],"arm":[26],"control,":[27],"yet":[28],"many":[29],"existing":[30,160],"methods":[31],"struggle":[32],"to":[33,56],"achieve":[34],"high":[35],"performance":[36],"when":[37],"dealing":[38],"with":[39,67,107,136],"high-precision":[40],"target":[41,99],"points":[42],"and":[43,86,97,120,133,145,165,167,186],"highly":[44],"redundant":[45],"arms.":[47],"In":[48],"this":[49,176],"paper,":[50],"propose":[52],"novel":[54],"solution":[55],"inverse":[58],"problem":[60],"by":[61],"combining":[62],"Proximal":[63],"Policy":[64],"Optimization":[65],"(PPO)":[66],"Damped":[69],"Least":[70],"Squares":[71],"(DLS)":[72],"method,":[73],"forming":[74],"Multistep":[76],"PPO-DLS":[77],"Kinematics":[79],"(MPDIK)":[80],"algorithm.":[81],"The":[82,101],"algorithm":[83,103],"was":[84],"trained":[85],"tested":[87],"in":[88],"PyBullet":[90],"virtual":[91],"environment,":[92],"using":[93],"random":[94],"seven-dimensional":[95],"position":[96],"pose":[98],"points.":[100],"MPDIK":[102],"demonstrated":[104],"outstanding":[105],"performance,":[106],"end":[109],"effector":[110],"achieving":[111],"distance":[113],"error":[114,123],"less":[116,125],"than":[117,126],"0.1":[118],"mm":[119],"an":[121,146],"orientation":[122],"0.001\u00b0.":[127],"Additionally,":[128],"it":[129],"exhibited":[130],"excellent":[131],"stability":[132],"fast":[134],"convergence,":[135],"post-training":[138],"task":[139],"completion":[140],"success":[141],"rate":[142],"98.37%":[144],"average":[147],"20.68":[149],"time":[150],"steps":[151],"per":[152],"task.":[153],"This":[154],"represents":[155],"significant":[157],"improvement":[158],"over":[159],"methods,":[161],"such":[162],"as":[163],"PPO":[164],"DLS,":[166],"demonstrates":[168],"universal":[169],"applicability.":[170],"Our":[171],"experiments":[172],"also":[173],"revealed":[174],"that":[175],"method":[177],"holds":[178],"great":[179],"potential":[180],"for":[181],"improving":[182],"both":[183],"accuracy":[185],"real-time":[187],"application":[188],"capabilities":[189],"systems.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":3}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}