{"id":"https://openalex.org/W2538585387","doi":"https://doi.org/10.1109/fskd.2016.7603509","title":"Jerk-level solutions to manipulator inverse kinematics with mathematical equivalence of operations discovered","display_name":"Jerk-level solutions to manipulator inverse kinematics with mathematical equivalence of operations discovered","publication_year":2016,"publication_date":"2016-08-01","ids":{"openalex":"https://openalex.org/W2538585387","doi":"https://doi.org/10.1109/fskd.2016.7603509","mag":"2538585387"},"language":"en","primary_location":{"id":"doi:10.1109/fskd.2016.7603509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fskd.2016.7603509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 12th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD)","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/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"institutions":[{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","SYSU-CMU Shunde International Joint Research Institute, Foshan, China","School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021844766","display_name":"Min Yang","orcid":"https://orcid.org/0000-0003-2550-0549"},"institutions":[{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Min Yang","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","SYSU-CMU Shunde International Joint Research Institute, Foshan, China","School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029739746","display_name":"Binbin Qiu","orcid":"https://orcid.org/0000-0002-9932-3306"},"institutions":[{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Binbin Qiu","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","SYSU-CMU Shunde International Joint Research Institute, Foshan, China","School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101750544","display_name":"Jiawei Luo","orcid":"https://orcid.org/0000-0003-4737-9014"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jiawei Luo","raw_affiliation_strings":["Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","SYSU-CMU Shunde International Joint Research Institute, Foshan, China","School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"Ministry of Education, Key Laboratory of Autonomous Systems and Networked Control, Guangzhou, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5010344995","display_name":"Hong\u2010Zhou Tan","orcid":"https://orcid.org/0000-0002-5214-997X"},"institutions":[{"id":"https://openalex.org/I4210129003","display_name":"SYSU-CMU International Joint Research Institute","ror":"https://ror.org/02w30ae27","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210129003"]},{"id":"https://openalex.org/I157773358","display_name":"Sun Yat-sen University","ror":"https://ror.org/0064kty71","country_code":"CN","type":"education","lineage":["https://openalex.org/I157773358"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hongzhou Tan","raw_affiliation_strings":["SYSU-CMU Shunde International Joint Research Institute, Foshan, China","School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"SYSU-CMU Shunde International Joint Research Institute, Foshan, China","institution_ids":["https://openalex.org/I4210129003","https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University (SYSU), Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5053064477"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I157773358","https://openalex.org/I4210129003"],"apc_list":null,"apc_paid":null,"fwci":0.5356,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.69977797,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"2121","last_page":"2126"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9939000010490417,"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/T13752","display_name":"Mechanics and Biomechanics Studies","score":0.9919999837875366,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/jerk","display_name":"Jerk","score":0.8500685691833496},{"id":"https://openalex.org/keywords/equivalence","display_name":"Equivalence (formal languages)","score":0.7061324119567871},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6388559341430664},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5599462389945984},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4818069338798523},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.45340555906295776},{"id":"https://openalex.org/keywords/inverse-dynamics","display_name":"Inverse dynamics","score":0.4343682825565338},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4232065975666046},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.39061951637268066},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37351804971694946},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3022605776786804},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15790382027626038},{"id":"https://openalex.org/keywords/pure-mathematics","display_name":"Pure mathematics","score":0.13321015238761902},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.0708320140838623}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.8500685691833496},{"id":"https://openalex.org/C2780069185","wikidata":"https://www.wikidata.org/wiki/Q7977945","display_name":"Equivalence (formal languages)","level":2,"score":0.7061324119567871},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6388559341430664},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5599462389945984},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4818069338798523},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.45340555906295776},{"id":"https://openalex.org/C187523126","wikidata":"https://www.wikidata.org/wiki/Q17098330","display_name":"Inverse dynamics","level":3,"score":0.4343682825565338},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4232065975666046},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.39061951637268066},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37351804971694946},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3022605776786804},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15790382027626038},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.13321015238761902},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0708320140838623},{"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/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/fskd.2016.7603509","is_oa":false,"landing_page_url":"https://doi.org/10.1109/fskd.2016.7603509","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 12th International Conference on Natural Computation, Fuzzy Systems and Knowledge Discovery (ICNC-FSKD)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":9,"referenced_works":["https://openalex.org/W1967243630","https://openalex.org/W1967911984","https://openalex.org/W1969077085","https://openalex.org/W2003430550","https://openalex.org/W2094739074","https://openalex.org/W2111340501","https://openalex.org/W2122761880","https://openalex.org/W2134968995","https://openalex.org/W6676947459"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W4235013387","https://openalex.org/W1996912299"],"abstract_inverted_index":{"By":[0],"applying":[1],"direct":[2],"derivative":[3],"dynamics":[4,14,19],"(DDD":[5],"or":[6],"D":[7],"<sup":[8],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[9],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">3</sup>":[10],"),":[11],"gradient":[12],"neural":[13,18],"(GND)":[15],"and":[16,32,37,66,86],"Zhang":[17],"(ZND)":[20],"at":[21,56],"joint-jerk":[22,58],"level,":[23],"three":[24],"novel":[25],"solutions":[26],"(namely,":[27],"of":[28,64,88],"types":[29],"Z1D1G1-D1Z1G1,":[30],"D2Z1-D1Z1D1-Z1D2":[31],"D1Z2-Z1D1Z1-Z2D1)":[33],"are":[34],"proposed,":[35],"developed":[36],"investigated":[38],"in":[39],"this":[40],"paper.":[41],"It":[42],"is":[43,54,69],"the":[44,57,72,83],"first":[45],"time":[46],"that":[47],"a":[48,61,77],"relatively":[49],"complete":[50],"hybrid":[51],"solution":[52],"framework":[53],"proposed":[55],"level.":[59],"Then,":[60],"mathematical":[62],"equivalence":[63],"Z1D1":[65],"D1Z1":[67],"operations":[68],"discovered.":[70],"Besides,":[71],"path-tracking":[73],"applications":[74],"performed":[75],"on":[76],"5-link":[78],"robot":[79],"manipulator":[80],"sufficiently":[81],"illustrate":[82],"efficacy,":[84],"accuracy":[85],"superiority":[87],"these":[89],"solutions.":[90]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
