{"id":"https://openalex.org/W2889955698","doi":"https://doi.org/10.1109/aim.2018.8452467","title":"Vision based Neural Network Control of Robot Manipulators with Unknown Sensory Jacobian Matrix","display_name":"Vision based Neural Network Control of Robot Manipulators with Unknown Sensory Jacobian Matrix","publication_year":2018,"publication_date":"2018-07-01","ids":{"openalex":"https://openalex.org/W2889955698","doi":"https://doi.org/10.1109/aim.2018.8452467","mag":"2889955698"},"language":"en","primary_location":{"id":"doi:10.1109/aim.2018.8452467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME 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/A5075248381","display_name":"Shangke Lyu","orcid":"https://orcid.org/0000-0002-8302-6630"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Shangke Lyu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chien Chern Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5075248381"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":0.9401,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.80816013,"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":"1222","last_page":"1227"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9965000152587891,"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"}},"topics":[{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9965000152587891,"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/T13114","display_name":"Image Processing Techniques and Applications","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9919999837875366,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8093022108078003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6584725975990295},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5526837706565857},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5478267073631287},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5427250862121582},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5058510303497314},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.48295682668685913},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.4483019709587097},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4310798645019531},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4204387664794922},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.41809332370758057},{"id":"https://openalex.org/keywords/lyapunov-function","display_name":"Lyapunov function","score":0.4175718128681183},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.35209259390830994},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24000975489616394},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1515178084373474},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14468926191329956},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1263630986213684}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8093022108078003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6584725975990295},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5526837706565857},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5478267073631287},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5427250862121582},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5058510303497314},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.48295682668685913},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.4483019709587097},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4310798645019531},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4204387664794922},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.41809332370758057},{"id":"https://openalex.org/C60640748","wikidata":"https://www.wikidata.org/wiki/Q2337858","display_name":"Lyapunov function","level":3,"score":0.4175718128681183},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.35209259390830994},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24000975489616394},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1515178084373474},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14468926191329956},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1263630986213684},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.0},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/aim.2018.8452467","is_oa":false,"landing_page_url":"https://doi.org/10.1109/aim.2018.8452467","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W59013988","https://openalex.org/W89510016","https://openalex.org/W1551380108","https://openalex.org/W1572326640","https://openalex.org/W2015982707","https://openalex.org/W2016213375","https://openalex.org/W2018869705","https://openalex.org/W2026514405","https://openalex.org/W2044089809","https://openalex.org/W2082991751","https://openalex.org/W2083483041","https://openalex.org/W2107152312","https://openalex.org/W2111691855","https://openalex.org/W2139121338","https://openalex.org/W2145460837","https://openalex.org/W2145783107","https://openalex.org/W2150535417","https://openalex.org/W2151055972","https://openalex.org/W2153324618","https://openalex.org/W2153818557","https://openalex.org/W2161505441","https://openalex.org/W2161538017","https://openalex.org/W2167501464","https://openalex.org/W4248304976","https://openalex.org/W6633042809"],"related_works":["https://openalex.org/W3207008345","https://openalex.org/W4287121803","https://openalex.org/W3167309527","https://openalex.org/W2010388739","https://openalex.org/W2062575626","https://openalex.org/W2121085532","https://openalex.org/W2015929149","https://openalex.org/W2907195160","https://openalex.org/W4372294702","https://openalex.org/W2612014147"],"abstract_inverted_index":{"Most":[0],"research":[1],"so":[2,194],"far":[3],"on":[4,170],"task-space":[5],"sensory":[6,70,95,108],"feedback":[7,111],"control":[8,31,117,136,190],"of":[9,17,65,127,146,188,200,222],"robot":[10,162],"manipulators":[11,27],"has":[12],"assumed":[13],"that":[14],"the":[15,43,52,94,99,107,122,128,131,134,144,147,182,198,201,210,220],"structure":[16],"kinematics":[18],"or":[19,72,88,109,175],"Jacobian":[20,73,158],"matrix":[21],"is":[22,82,112,192,206],"known.":[23],"As":[24],"most":[25],"industrial":[26,129],"have":[28,45],"closed":[29,174],"architecture":[30],"systems":[32,96],"and":[33,49,58,63,75,97,184,213],"do":[34],"not":[35],"come":[36],"with":[37,133,172],"external":[38],"sensors":[39,44,66],"such":[40],"as":[41,106,114,195],"cameras,":[42,183],"to":[46,51,55,78,92,102,121,142,180,196,218],"be":[47,139,168],"added":[48],"integrated":[50],"robots":[53,100,171],"according":[54,101],"different":[56,61,69,79],"requirements":[57],"applications.":[59,104],"Since":[60],"configurations":[62],"types":[64],"result":[67],"in":[68,83,90,119],"transformation":[71],"matrices":[74],"thus":[76],"lead":[77],"models,":[80],"it":[81],"general":[84],"difficult":[85],"for":[86,161],"operators":[87],"users":[89],"factory":[91],"model":[93,181],"deploy":[98],"various":[103],"Besides,":[105],"visual":[110],"implemented":[113,169],"an":[115],"outer":[116],"loop":[118,126,137,191],"addition":[120],"inner":[123,135,189],"joint":[124],"servo":[125],"robots,":[130],"interactions":[132],"must":[138],"carefully":[140],"considered":[141,193],"ensure":[143,197],"stability":[145,199,205],"overall":[148],"system.":[149,203],"This":[150],"paper":[151],"proposes":[152],"a":[153],"vision":[154],"based":[155],"neural":[156],"network":[157],"tracking":[159],"controller":[160,166],"manipulators.":[163,185],"The":[164,186,204],"proposed":[165,223],"can":[167],"either":[173],"opened":[176],"architecture,":[177],"without":[178],"having":[179],"effect":[187],"whole":[202],"shown":[207],"by":[208],"using":[209],"Lyapunov-like":[211],"method":[212],"experimental":[214],"results":[215],"are":[216],"presented":[217],"illustrate":[219],"performance":[221],"controller.":[224]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":5},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
