{"id":"https://openalex.org/W2807710112","doi":"https://doi.org/10.1109/icaci.2018.8377484","title":"Adaptive operation-space control of redundant manipulators with joint limits avoidance","display_name":"Adaptive operation-space control of redundant manipulators with joint limits avoidance","publication_year":2018,"publication_date":"2018-03-01","ids":{"openalex":"https://openalex.org/W2807710112","doi":"https://doi.org/10.1109/icaci.2018.8377484","mag":"2807710112"},"language":"en","primary_location":{"id":"doi:10.1109/icaci.2018.8377484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaci.2018.8377484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Tenth International Conference on Advanced Computational Intelligence (ICACI)","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/A5101624105","display_name":"Qing Xu","orcid":null},"institutions":[{"id":"https://openalex.org/I82880672","display_name":"Beihang University","ror":"https://ror.org/00wk2mp56","country_code":"CN","type":"education","lineage":["https://openalex.org/I82880672"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qing Xu","raw_affiliation_strings":["School of Automation Science and Electrical Engineering, Beihang University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Electrical Engineering, Beihang University, Beijing, China","institution_ids":["https://openalex.org/I82880672"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101439784","display_name":"Xiaoming Sun","orcid":"https://orcid.org/0000-0002-4220-0129"},"institutions":[{"id":"https://openalex.org/I44675526","display_name":"Shanghai Ocean University","ror":"https://ror.org/04n40zv07","country_code":"CN","type":"education","lineage":["https://openalex.org/I44675526"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xiaoming Sun","raw_affiliation_strings":["College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, China"],"affiliations":[{"raw_affiliation_string":"College of Engineering Science and Technology, Shanghai Ocean University, Shanghai, China","institution_ids":["https://openalex.org/I44675526"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101624105"],"corresponding_institution_ids":["https://openalex.org/I82880672"],"apc_list":null,"apc_paid":null,"fwci":0.3745,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.59718938,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"5","issue":null,"first_page":"358","last_page":"363"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9990000128746033,"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":0.9969000220298767,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6982082724571228},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6134769916534424},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5644271969795227},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5523717999458313},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5341887474060059},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5328851938247681},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.49793529510498047},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4918091595172882},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.48635631799697876},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.4841540455818176},{"id":"https://openalex.org/keywords/space","display_name":"Space (punctuation)","score":0.419522762298584},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.418140172958374},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2735736668109894},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25875818729400635},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.23750650882720947}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6982082724571228},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6134769916534424},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5644271969795227},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5523717999458313},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5341887474060059},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5328851938247681},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.49793529510498047},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4918091595172882},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.48635631799697876},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.4841540455818176},{"id":"https://openalex.org/C2778572836","wikidata":"https://www.wikidata.org/wiki/Q380933","display_name":"Space (punctuation)","level":2,"score":0.419522762298584},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.418140172958374},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2735736668109894},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25875818729400635},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.23750650882720947},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icaci.2018.8377484","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icaci.2018.8377484","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 Tenth International Conference on Advanced Computational Intelligence (ICACI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320325302","display_name":"Shanghai Ocean University","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1493190793","https://openalex.org/W1517236425","https://openalex.org/W1986024064","https://openalex.org/W1986152369","https://openalex.org/W2068267690","https://openalex.org/W2070929974","https://openalex.org/W2078309923","https://openalex.org/W2122836694","https://openalex.org/W2147626424","https://openalex.org/W2159216507","https://openalex.org/W2166365633","https://openalex.org/W2218996695","https://openalex.org/W2388591084","https://openalex.org/W6681903914"],"related_works":["https://openalex.org/W2567391447","https://openalex.org/W2567520115","https://openalex.org/W2055801945","https://openalex.org/W1925083093","https://openalex.org/W1505013685","https://openalex.org/W2344226335","https://openalex.org/W2139526495","https://openalex.org/W2080408381","https://openalex.org/W2148178391","https://openalex.org/W2146430632"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"adaptive":[3],"operation-space":[4],"control":[5,38,45,69],"with":[6,49],"joint":[7,24],"limits":[8,25],"avoidance":[9,26],"is":[10,27],"proposed":[11,67,93],"for":[12],"a":[13],"redundant":[14,18],"robot":[15,58],"manipulator.":[16],"Utilizing":[17],"properties":[19],"of":[20,56,91],"the":[21,31,35,50,57,66,74,89,92],"robotic":[22],"manipulator,":[23],"achieved":[28],"without":[29],"interfering":[30],"main-task":[32],"objective":[33],"in":[34],"operation-space.":[36],"Two":[37],"objectives":[39],"are":[40,63,84],"unified":[41],"under":[42,65],"one":[43],"common":[44],"framework.":[46,94],"To":[47],"cope":[48],"unknown":[51,75],"and":[52,77],"unstructured":[53],"dynamic":[54],"nonlinearities":[55],"model,":[59],"neural":[60],"networks":[61],"(NNs)":[62],"constructed":[64],"torque":[68],"design":[70],"as":[71],"to":[72,87],"approximate":[73],"dynamics":[76],"achieve":[78],"small":[79],"tracking":[80],"errors.":[81],"Simulation":[82],"studies":[83],"carried":[85],"out":[86],"verify":[88],"effectiveness":[90]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-04-24T08:23:43.765630","created_date":"2025-10-10T00:00:00"}