{"id":"https://openalex.org/W2524546330","doi":"https://doi.org/10.1109/aim.2016.7576826","title":"Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization","display_name":"Optimal redundancy resolution for robotic arc welding using modified particle swarm optimization","publication_year":2016,"publication_date":"2016-07-01","ids":{"openalex":"https://openalex.org/W2524546330","doi":"https://doi.org/10.1109/aim.2016.7576826","mag":"2524546330"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2016.7576826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-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/A5025635687","display_name":"Ngoc Chi Nam Doan","orcid":null},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Ngoc Chi Nam Doan","raw_affiliation_strings":["A*STAR, Singapore Institute of Manufacturing Technology, Singapore"],"affiliations":[{"raw_affiliation_string":"A*STAR, Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207","https://openalex.org/I115228651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067399179","display_name":"Pey Yuen Tao","orcid":"https://orcid.org/0000-0001-7986-2081"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Pey Yuen Tao","raw_affiliation_strings":["A*STAR, Singapore Institute of Manufacturing Technology, Singapore"],"affiliations":[{"raw_affiliation_string":"A*STAR, Singapore Institute of Manufacturing Technology, Singapore","institution_ids":["https://openalex.org/I4210091207","https://openalex.org/I115228651"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100636013","display_name":"Wei Lin","orcid":"https://orcid.org/0000-0002-3869-6651"},"institutions":[{"id":"https://openalex.org/I115228651","display_name":"Agency for Science, Technology and Research","ror":"https://ror.org/036wvzt09","country_code":"SG","type":"government","lineage":["https://openalex.org/I115228651"]},{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]},{"id":"https://openalex.org/I4210091207","display_name":"Singapore Institute of Manufacturing Technology","ror":"https://ror.org/00f44np30","country_code":"SG","type":"facility","lineage":["https://openalex.org/I115228651","https://openalex.org/I4210091207","https://openalex.org/I91275662"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Wei Lin","raw_affiliation_strings":["Department of Mechanical Engineering, National University of Singapore, Singapore","Singapore Institute of Manufacturing Technology, A*STAR"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, National University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Singapore Institute of Manufacturing Technology, A*STAR","institution_ids":["https://openalex.org/I4210091207","https://openalex.org/I115228651"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5025635687"],"corresponding_institution_ids":["https://openalex.org/I115228651","https://openalex.org/I4210091207"],"apc_list":null,"apc_paid":null,"fwci":1.8747,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":{"value":0.86821656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"554","last_page":"559"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9984999895095825,"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":0.9937999844551086,"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/redundancy","display_name":"Redundancy (engineering)","score":0.7504781484603882},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7456492781639099},{"id":"https://openalex.org/keywords/welding","display_name":"Welding","score":0.6629453897476196},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.6378143429756165},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6173418760299683},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5198567509651184},{"id":"https://openalex.org/keywords/parameterized-complexity","display_name":"Parameterized complexity","score":0.5188554525375366},{"id":"https://openalex.org/keywords/robot-welding","display_name":"Robot welding","score":0.5016298294067383},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.48207908868789673},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4536459147930145},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3778287172317505},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32982751727104187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3239174485206604},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.295453816652298},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.25482630729675293},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1919962465763092},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.14126646518707275},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07210245728492737}],"concepts":[{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.7504781484603882},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7456492781639099},{"id":"https://openalex.org/C19474535","wikidata":"https://www.wikidata.org/wiki/Q131172","display_name":"Welding","level":2,"score":0.6629453897476196},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.6378143429756165},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6173418760299683},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5198567509651184},{"id":"https://openalex.org/C165464430","wikidata":"https://www.wikidata.org/wiki/Q1570441","display_name":"Parameterized complexity","level":2,"score":0.5188554525375366},{"id":"https://openalex.org/C118198166","wikidata":"https://www.wikidata.org/wiki/Q2327264","display_name":"Robot welding","level":3,"score":0.5016298294067383},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.48207908868789673},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4536459147930145},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3778287172317505},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32982751727104187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3239174485206604},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.295453816652298},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.25482630729675293},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1919962465763092},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.14126646518707275},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07210245728492737},{"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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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:10.1109/aim.2016.7576826","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2016.7576826","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.9100000262260437,"id":"https://metadata.un.org/sdg/7","display_name":"Affordable and clean energy"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W613314169","https://openalex.org/W1820051232","https://openalex.org/W1969140852","https://openalex.org/W1994875265","https://openalex.org/W2025939589","https://openalex.org/W2042803738","https://openalex.org/W2110395933","https://openalex.org/W2114000612","https://openalex.org/W2123066915","https://openalex.org/W2131613989","https://openalex.org/W2139678625","https://openalex.org/W2152195021","https://openalex.org/W2153247018","https://openalex.org/W2164589602","https://openalex.org/W2266380092","https://openalex.org/W6682301586"],"related_works":["https://openalex.org/W845804895","https://openalex.org/W2922441285","https://openalex.org/W66139377","https://openalex.org/W2108148269","https://openalex.org/W2124274328","https://openalex.org/W2563925968","https://openalex.org/W2618246214","https://openalex.org/W4231681387","https://openalex.org/W2020573549","https://openalex.org/W1503236870"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3,53],"optimal":[4],"redundancy":[5,55],"resolution":[6,56],"approach":[7,115],"for":[8,16,59,73,84,123],"a":[9,43,124],"6":[10],"degree-of-freedom":[11],"(DOF)":[12],"articulated":[13],"welding":[14,62,79,87,122],"robot":[15],"the":[17,25,31,60,69,74,78,85,90,93,99,111,114],"objective":[18,94],"of":[19,101,113,120],"minimizing":[20],"energy":[21,107],"consumption":[22],"while":[23],"meeting":[24],"process":[26],"requirements":[27],"and":[28,42,106],"satisfying":[29],"all":[30],"kinematic":[32],"constraints.":[33],"By":[34],"combining":[35],"parameterized":[36,70],"inverse":[37,71],"kinematics":[38,72],"in":[39],"position":[40],"domain":[41],"modified":[44],"particle":[45],"swarm":[46],"optimization":[47],"(MPSO)":[48],"with":[49,68,92,98,118],"proposed":[50],"searching":[51],"constraints,":[52],"efficient":[54],"is":[57,82,116],"realized":[58],"required":[61],"torch":[63,80],"trajectories.":[64],"The":[65],"formulation":[66],"begins":[67],"given":[75],"robot.":[76],"Then":[77],"angle":[81],"optimized":[83],"entire":[86],"range":[88],"by":[89],"MPSO":[91],"function":[95],"that":[96],"deals":[97],"conditions":[100],"joint":[102,126],"limits,":[103],"collision":[104],"avoidance,":[105],"saving":[108],"problems.":[109],"Finally,":[110],"effectiveness":[112],"demonstrated":[117],"cases":[119],"robotic":[121],"complex":[125],"structure.":[127]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
