{"id":"https://openalex.org/W4400111361","doi":"https://doi.org/10.1109/lra.2024.3420704","title":"Research on Inverse Kinematics of Redundant Robotic Arms Based on Flexibility Index","display_name":"Research on Inverse Kinematics of Redundant Robotic Arms Based on Flexibility Index","publication_year":2024,"publication_date":"2024-06-28","ids":{"openalex":"https://openalex.org/W4400111361","doi":"https://doi.org/10.1109/lra.2024.3420704"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2024.3420704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3420704","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5100695932","display_name":"Wenli Ma","orcid":"https://orcid.org/0000-0002-9756-0578"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wenli Ma","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068911468","display_name":"Qiaoling Du","orcid":"https://orcid.org/0000-0001-9612-7580"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Qiaoling Du","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":"https://orcid.org/0000-0001-9612-7580","affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070090646","display_name":"Rui Zhu","orcid":"https://orcid.org/0000-0002-6037-6515"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Rui Zhu","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101986621","display_name":"Wentao Han","orcid":"https://orcid.org/0009-0003-4694-9967"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wentao Han","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023099923","display_name":"Dejian Chen","orcid":"https://orcid.org/0000-0001-6576-3939"},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Dejian Chen","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5114183695","display_name":"Yinfeng Geng","orcid":null},"institutions":[{"id":"https://openalex.org/I194450716","display_name":"Jilin University","ror":"https://ror.org/00js3aw79","country_code":"CN","type":"education","lineage":["https://openalex.org/I194450716"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yinfeng Geng","raw_affiliation_strings":["School of Electronic Science and Engineering, Jilin University, Changchun City, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronic Science and Engineering, Jilin University, Changchun City, China","institution_ids":["https://openalex.org/I194450716"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I194450716"],"apc_list":null,"apc_paid":null,"fwci":2.8299,"has_fulltext":false,"cited_by_count":15,"citation_normalized_percentile":{"value":0.9128221,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"9","issue":"8","first_page":"7262","last_page":"7269"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.7849000096321106,"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":0.7849000096321106,"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":0.7523000240325928,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.7319999933242798,"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":0.8377710580825806},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6940420866012573},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.6755363941192627},{"id":"https://openalex.org/keywords/index","display_name":"Index (typography)","score":0.5935314893722534},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5215282440185547},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4861016273498535},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42112910747528076},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.36021888256073},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2906683683395386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.280914306640625},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.13453242182731628},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.11566761136054993},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.10982924699783325},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.08260670304298401}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.8377710580825806},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6940420866012573},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.6755363941192627},{"id":"https://openalex.org/C2777382242","wikidata":"https://www.wikidata.org/wiki/Q6017816","display_name":"Index (typography)","level":2,"score":0.5935314893722534},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5215282440185547},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4861016273498535},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42112910747528076},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.36021888256073},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2906683683395386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.280914306640625},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.13453242182731628},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.11566761136054993},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.10982924699783325},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.08260670304298401},{"id":"https://openalex.org/C136764020","wikidata":"https://www.wikidata.org/wiki/Q466","display_name":"World Wide Web","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2024.3420704","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2024.3420704","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2375415610","https://openalex.org/W1996912299","https://openalex.org/W4235013387","https://openalex.org/W2898458249"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"an":[3,105],"Improved":[4],"Quantum":[5],"Particle":[6],"Swarm":[7],"Optimization":[8],"algorithm":[9,108,170],"based":[10,93],"on":[11,94],"Directional":[12,54],"Maneuverability":[13,55],"constrained":[14,56],"by":[15,57,189],"Isotropic":[16,58],"Indexes":[17,59],"(DMII-IQPSO).":[18],"It":[19],"can":[20,120,178],"solve":[21,34,121],"the":[22,31,69,74,95,122,144,153,168,185,190,196],"problems":[23],"of":[24,37,39,68,97,124,132,146,167],"large":[25,147],"inverse":[26,89,148],"kinematics":[27,90,149],"solution":[28,150],"errors":[29],"and":[30,85,100,114,136,164,175],"inability":[32],"to":[33,64],"singular":[35,66],"configurations":[36,67],"7-Degree":[38],"Freedom":[40],"(DOF)":[41],"redundant":[42],"robotic":[43,70,87,191],"arm.":[44,71],"Firstly,":[45],"we":[46],"propose":[47],"a":[48,79,86,112],"new":[49,80],"sports":[50],"performance":[51],"metric":[52],"\u2014\u2014":[53],"(DMII).":[60],"Introduce":[61],"isotropic":[62],"indicators":[63],"avoid":[65],"By":[72],"combining":[73],"target":[75,197],"attitude":[76,98],"error":[77,99],"function,":[78],"objective":[81],"function":[82],"is":[83,102],"obtained,":[84],"arm":[88,192],"mathematical":[91],"model":[92],"combination":[96],"DMII":[101],"constructed.":[103],"Secondly,":[104],"improved":[106,137],"QPSO":[107],"was":[109],"proposed.":[110],"Introducing":[111],"three-segment":[113],"tangential":[115],"piecewise":[116],"Logistic":[117],"chaotic":[118],"maps":[119],"problem":[123,145],"low":[125],"accuracy":[126,163],"in":[127,159],"solving":[128],"QPSO.":[129],"The":[130,161,181],"introduction":[131],"adaptive":[133],"mutation":[134],"criteria":[135],"particle":[138],"position":[139,187],"update":[140],"mechanism":[141],"has":[142],"solved":[143],"errors.":[151],"Finally,":[152],"simulation":[154],"experiment":[155],"showed":[156],"significant":[157],"improvement":[158],"DMII-IQPSO.":[160],"search":[162,165],"ability":[166],"DMII-IQPSO":[169],"have":[171],"been":[172],"greatly":[173],"improved,":[174],"local":[176],"optima":[177],"be":[179],"avoided.":[180],"results":[182],"show":[183],"that":[184],"actual":[186],"reached":[188],"during":[193],"operation":[194],"matches":[195],"point":[198],"well.":[199]},"counts_by_year":[{"year":2026,"cited_by_count":6},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-23T08:03:31.855105","created_date":"2025-10-10T00:00:00"}