{"id":"https://openalex.org/W2912857138","doi":"https://doi.org/10.1109/la-cci.2018.8625237","title":"The Inverse Kinematics solutions for Robot Manipulators based on Firefly Algorithm","display_name":"The Inverse Kinematics solutions for Robot Manipulators based on Firefly Algorithm","publication_year":2018,"publication_date":"2018-11-01","ids":{"openalex":"https://openalex.org/W2912857138","doi":"https://doi.org/10.1109/la-cci.2018.8625237","mag":"2912857138"},"language":"en","primary_location":{"id":"doi:10.1109/la-cci.2018.8625237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/la-cci.2018.8625237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Latin American Conference on Computational Intelligence (LA-CCI)","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/A5060433643","display_name":"Jes\u00fas Hern\u00e1ndez-Barrag\u00e1n","orcid":"https://orcid.org/0000-0001-7518-1668"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Jesus Hernandez-Barragan","raw_affiliation_strings":["Computer Science Department, University of Guadalajara, CUCEI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Guadalajara, CUCEI","institution_ids":["https://openalex.org/I193181351","https://openalex.org/I4210156583"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082402937","display_name":"Carlos L\u00f3pez-Franco","orcid":"https://orcid.org/0000-0001-8122-3799"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Carlos Lopez-Franco","raw_affiliation_strings":["Computer Science Department, University of Guadalajara, CUCEI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Guadalajara, CUCEI","institution_ids":["https://openalex.org/I193181351","https://openalex.org/I4210156583"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073837911","display_name":"Cecilia Antonio-Gopar","orcid":null},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Cecilia Antonio-Gopar","raw_affiliation_strings":["Computer Science Department, University of Guadalajara, CUCEI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Guadalajara, CUCEI","institution_ids":["https://openalex.org/I193181351","https://openalex.org/I4210156583"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004231492","display_name":"Alma Y. Alan\u00eds","orcid":"https://orcid.org/0000-0001-9600-779X"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Alma Y. Alanis","raw_affiliation_strings":["Computer Science Department, University of Guadalajara, CUCEI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Guadalajara, CUCEI","institution_ids":["https://openalex.org/I193181351","https://openalex.org/I4210156583"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5033514957","display_name":"Nancy Arana\u2010Daniel","orcid":"https://orcid.org/0000-0002-8803-9502"},"institutions":[{"id":"https://openalex.org/I193181351","display_name":"Universidad de Guadalajara","ror":"https://ror.org/043xj7k26","country_code":"MX","type":"education","lineage":["https://openalex.org/I193181351"]},{"id":"https://openalex.org/I4210156583","display_name":"Laboratoire d'Informatique de Paris-Nord","ror":"https://ror.org/05g1zjw44","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I4210091279","https://openalex.org/I4210156583","https://openalex.org/I4210159245"]}],"countries":["FR","MX"],"is_corresponding":false,"raw_author_name":"Nancy Arana-Daniel","raw_affiliation_strings":["Computer Science Department, University of Guadalajara, CUCEI"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Computer Science Department, University of Guadalajara, CUCEI","institution_ids":["https://openalex.org/I193181351","https://openalex.org/I4210156583"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.1873,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.55120693,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9979000091552734,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9896000027656555,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.8915854096412659},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.789414644241333},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.789399266242981},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.6588312983512878},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5770277976989746},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.5728884339332581},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.5602430105209351},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5241468548774719},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5225938558578491},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5222519040107727},{"id":"https://openalex.org/keywords/firefly-algorithm","display_name":"Firefly algorithm","score":0.4958246648311615},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4908900856971741},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.43917039036750793},{"id":"https://openalex.org/keywords/moore\u2013penrose-pseudoinverse","display_name":"Moore\u2013Penrose pseudoinverse","score":0.43423518538475037},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.3312847316265106},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33018219470977783},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.27971935272216797},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2603754997253418},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.10770794749259949},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08444422483444214},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.08040252327919006},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06740009784698486}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8915854096412659},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.789414644241333},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.789399266242981},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.6588312983512878},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5770277976989746},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.5728884339332581},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.5602430105209351},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5241468548774719},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5225938558578491},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5222519040107727},{"id":"https://openalex.org/C154982244","wikidata":"https://www.wikidata.org/wiki/Q5451844","display_name":"Firefly algorithm","level":3,"score":0.4958246648311615},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4908900856971741},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.43917039036750793},{"id":"https://openalex.org/C21556879","wikidata":"https://www.wikidata.org/wiki/Q43219517","display_name":"Moore\u2013Penrose pseudoinverse","level":3,"score":0.43423518538475037},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.3312847316265106},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33018219470977783},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.27971935272216797},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2603754997253418},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.10770794749259949},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08444422483444214},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.08040252327919006},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06740009784698486},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/la-cci.2018.8625237","is_oa":false,"landing_page_url":"https://doi.org/10.1109/la-cci.2018.8625237","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE Latin American Conference on Computational Intelligence (LA-CCI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.800000011920929,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W152243833","https://openalex.org/W764501734","https://openalex.org/W1496777766","https://openalex.org/W1523741643","https://openalex.org/W1936283025","https://openalex.org/W1966913471","https://openalex.org/W1968005908","https://openalex.org/W2004208581","https://openalex.org/W2017258920","https://openalex.org/W2019484959","https://openalex.org/W2044587647","https://openalex.org/W2054878539","https://openalex.org/W2062691475","https://openalex.org/W2124319381","https://openalex.org/W2133338270","https://openalex.org/W2140151482","https://openalex.org/W2166018205","https://openalex.org/W2335284675","https://openalex.org/W2524546330","https://openalex.org/W2594055234","https://openalex.org/W2604800736","https://openalex.org/W2772089716","https://openalex.org/W3104313545","https://openalex.org/W4252031641","https://openalex.org/W6680731572"],"related_works":["https://openalex.org/W4313053041","https://openalex.org/W1907244590","https://openalex.org/W2168793592","https://openalex.org/W4386631294","https://openalex.org/W2991355169","https://openalex.org/W2575193577","https://openalex.org/W2386833263","https://openalex.org/W2770515853","https://openalex.org/W4230062614","https://openalex.org/W2338237606"],"abstract_inverted_index":{"The":[0,55],"solution":[1],"of":[2,6,80,89,101],"the":[3,16,44,52,67,73,78,90],"inverse":[4,34,45,69],"kinematics":[5,35,46,70],"robot":[7,49],"manipulators":[8,50],"may":[9,24],"have":[10],"multiple":[11],"joints":[12],"configurations":[13],"that":[14],"reach":[15],"same":[17],"end":[18],"effector":[19],"pose.":[20],"These":[21],"redundant":[22],"solutions":[23,65],"provide":[25,61],"a":[26,32,98],"collision":[27],"free":[28],"joint":[29],"configuration":[30],"for":[31,48,66],"safe":[33],"task.":[36,71],"In":[37],"this":[38],"work,":[39],"we":[40],"propose":[41],"to":[42,60],"solve":[43],"problem":[47],"using":[51,97],"Firefly":[53],"Algorithm.":[54],"proposed":[56,91],"method":[57,74],"is":[58,93],"able":[59],"one":[62],"or":[63],"more":[64],"given":[68],"Since":[72],"does":[75],"not":[76],"required":[77],"inversion":[79],"any":[81],"Jacobian":[82],"matrix,":[83],"it":[84],"avoids":[85],"singularities":[86],"configurations.":[87],"Applicability":[88],"approach":[92],"illustrated":[94],"in":[95],"simulations":[96],"five":[99],"degree":[100],"freedom":[102],"arm":[103],"manipulator.":[104]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}