{"id":"https://openalex.org/W3094290217","doi":"https://doi.org/10.1109/cacre50138.2020.9230347","title":"A Distributed Reward Algorithm for Inverse Kinematics of Arm Robot","display_name":"A Distributed Reward Algorithm for Inverse Kinematics of Arm Robot","publication_year":2020,"publication_date":"2020-09-01","ids":{"openalex":"https://openalex.org/W3094290217","doi":"https://doi.org/10.1109/cacre50138.2020.9230347","mag":"3094290217"},"language":"en","primary_location":{"id":"doi:10.1109/cacre50138.2020.9230347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230347","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"},"type":"conference-paper","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/A5044207756","display_name":"Xiaoying Shi","orcid":"https://orcid.org/0000-0003-0452-2503"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoying Shi","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072152812","display_name":"Zichang Guo","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zichang Guo","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101876395","display_name":"Jin Huang","orcid":"https://orcid.org/0000-0001-6458-4939"},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jin Huang","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033240019","display_name":"Yaogao Shen","orcid":null},"institutions":[{"id":"https://openalex.org/I43313876","display_name":"Dalian Maritime University","ror":"https://ror.org/002b7nr53","country_code":"CN","type":"education","lineage":["https://openalex.org/I43313876"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yaogao Shen","raw_affiliation_strings":["College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Marine Electrical Engineering, Dalian Maritime University, Dalian Liaoning, China","institution_ids":["https://openalex.org/I43313876"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009116724","display_name":"Liyue Xia","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liyue Xia","raw_affiliation_strings":["China Southern Airlines Dalian Branch, Dalian Liaoning, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"China Southern Airlines Dalian Branch, Dalian Liaoning, China","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":3.2945,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.93445838,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"92","last_page":"96"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9972000122070312,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9972000122070312,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9936000108718872,"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":0.9926999807357788,"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":0.8265560865402222},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7158657312393188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6943566799163818},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6470817923545837},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5793718099594116},{"id":"https://openalex.org/keywords/set","display_name":"Set (abstract data type)","score":0.5472601652145386},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5180087685585022},{"id":"https://openalex.org/keywords/reinforcement-learning","display_name":"Reinforcement learning","score":0.5160717368125916},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4886205792427063},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.477022647857666},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.45994633436203003},{"id":"https://openalex.org/keywords/work","display_name":"Work (physics)","score":0.4455825388431549},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36627158522605896},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3579367399215698},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3404877781867981},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3218455910682678},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.18764108419418335},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12915828824043274},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11409199237823486},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.10611876845359802}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8265560865402222},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7158657312393188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6943566799163818},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6470817923545837},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5793718099594116},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.5472601652145386},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5180087685585022},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.5160717368125916},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4886205792427063},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.477022647857666},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.45994633436203003},{"id":"https://openalex.org/C18762648","wikidata":"https://www.wikidata.org/wiki/Q42213","display_name":"Work (physics)","level":2,"score":0.4455825388431549},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36627158522605896},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3579367399215698},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3404877781867981},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3218455910682678},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.18764108419418335},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12915828824043274},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11409199237823486},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.10611876845359802},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cacre50138.2020.9230347","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cacre50138.2020.9230347","pdf_url":null,"source":{"id":"https://openalex.org/S4306498616","display_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2020 5th International Conference on Automation, Control and Robotics Engineering (CACRE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7900000214576721,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W46130386","https://openalex.org/W1495118766","https://openalex.org/W1640077579","https://openalex.org/W1990777642","https://openalex.org/W2062691475","https://openalex.org/W2113889826","https://openalex.org/W2158462832","https://openalex.org/W2257979135","https://openalex.org/W2415243675","https://openalex.org/W2787938642","https://openalex.org/W2982316857","https://openalex.org/W3011120880","https://openalex.org/W4214717370"],"related_works":["https://openalex.org/W2744818472","https://openalex.org/W2970937359","https://openalex.org/W1253671258","https://openalex.org/W2898458249","https://openalex.org/W4283266117","https://openalex.org/W2166760487","https://openalex.org/W2355512144","https://openalex.org/W2136233762","https://openalex.org/W3134555460","https://openalex.org/W2607470227"],"abstract_inverted_index":{"Traditional":[0],"methods":[1],"of":[2,5,67,71,110,116],"inverse":[3,62],"kinematics":[4],"robots":[6,39],"always":[7],"adopt":[8],"analytical":[9],"approach":[10,13],"and":[11,19,24,31,98],"numerical":[12],"to":[14,59,90],"solve":[15],"the":[16,61,78,85,92,100,108],"continuous":[17],"state":[18],"action":[20],"problems":[21],"with":[22,40],"experience":[23],"experiment":[25,123],"mostly,":[26],"which":[27,54,76],"require":[28],"much":[29],"time":[30],"work":[32,35],"in":[33,107],"reality":[34],"scene,":[36],"especially":[37],"for":[38],"complex":[41],"structure.":[42],"This":[43],"paper":[44],"proposes":[45],"a":[46],"method":[47,118],"based":[48],"on":[49],"reinforcement":[50],"learning":[51],"TD3":[52],"network,":[53],"is":[55,119],"constructed":[56],"by":[57,121],"PyTorch":[58],"find":[60],"solution":[63],"from":[64,103],"another":[65],"point":[66],"view.":[68],"A":[69],"set":[70],"improved":[72],"distributed":[73],"multiple":[74],"rewards":[75],"choose":[77],"position":[79],"difference":[80],"between":[81],"adjacent":[82],"joints":[83],"as":[84],"reward":[86],"standard":[87],"are":[88],"designed":[89],"optimize":[91],"solution,":[93],"avoid":[94],"solving":[95],"unreachable":[96],"points":[97],"prevent":[99],"mechanical":[101],"structure":[102],"being":[104],"damaged":[105],"also":[106],"environment":[109],"five-degree-of-freedom":[111],"arm":[112],"robot.":[113],"The":[114],"validity":[115],"above":[117],"verified":[120],"simulation":[122],"results.":[124]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":3}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}