{"id":"https://openalex.org/W1993989609","doi":"https://doi.org/10.1109/tcyb.2014.2321390","title":"G2-Type SRMPC Scheme for Synchronous Manipulation of Two Redundant Robot Arms","display_name":"G2-Type SRMPC Scheme for Synchronous Manipulation of Two Redundant Robot Arms","publication_year":2014,"publication_date":"2014-05-16","ids":{"openalex":"https://openalex.org/W1993989609","doi":"https://doi.org/10.1109/tcyb.2014.2321390","mag":"1993989609","pmid":"https://pubmed.ncbi.nlm.nih.gov/24846689"},"language":"en","primary_location":{"id":"doi:10.1109/tcyb.2014.2321390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2014.2321390","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Transactions on Cybernetics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5100703636","display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-5329-5098"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Jin","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053064477","display_name":"Yunong Zhang","orcid":"https://orcid.org/0000-0002-2228-0395"},"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"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science and Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Information Science and Technology; Sun Yat-Sen University; Guangzhou China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":16.5219,"has_fulltext":false,"cited_by_count":156,"citation_normalized_percentile":{"value":0.99205812,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":100},"biblio":{"volume":"45","issue":"2","first_page":"153","last_page":"164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9994999766349792,"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":0.9976000189781189,"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/solver","display_name":"Solver","score":0.5676442980766296},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5412968397140503},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4647608995437622},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4645155966281891},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4484541118144989},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4374263882637024},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.4255402088165283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41538673639297485},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4134944975376129},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.26188376545906067},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.25425609946250916},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.16112691164016724},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12589356303215027}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5676442980766296},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5412968397140503},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4647608995437622},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4645155966281891},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4484541118144989},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4374263882637024},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.4255402088165283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41538673639297485},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4134944975376129},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.26188376545906067},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.25425609946250916},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.16112691164016724},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12589356303215027},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tcyb.2014.2321390","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcyb.2014.2321390","pdf_url":null,"source":{"id":"https://openalex.org/S4210191041","display_name":"IEEE Transactions on Cybernetics","issn_l":"2168-2267","issn":["2168-2267","2168-2275"],"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 Transactions on Cybernetics","raw_type":"journal-article"},{"id":"pmid:24846689","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/24846689","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on cybernetics","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.6200000047683716}],"awards":[{"id":"https://openalex.org/G7387600863","display_name":null,"funder_award_id":"2011CB302204","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"}],"funders":[{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W79995813","https://openalex.org/W1544439962","https://openalex.org/W1583199597","https://openalex.org/W1744266356","https://openalex.org/W1976220104","https://openalex.org/W1983089547","https://openalex.org/W1983931525","https://openalex.org/W1992171281","https://openalex.org/W2014545454","https://openalex.org/W2021597815","https://openalex.org/W2036414167","https://openalex.org/W2039787549","https://openalex.org/W2042621109","https://openalex.org/W2045283962","https://openalex.org/W2054354066","https://openalex.org/W2054797486","https://openalex.org/W2093627685","https://openalex.org/W2097677484","https://openalex.org/W2103472288","https://openalex.org/W2105087206","https://openalex.org/W2106296284","https://openalex.org/W2118766245","https://openalex.org/W2121205585","https://openalex.org/W2124872785","https://openalex.org/W2131965907","https://openalex.org/W2139647291","https://openalex.org/W2147168033","https://openalex.org/W2150031780","https://openalex.org/W2154847670","https://openalex.org/W2156396274","https://openalex.org/W2156485650","https://openalex.org/W2164643146","https://openalex.org/W2169360335","https://openalex.org/W6673567786"],"related_works":["https://openalex.org/W2084494155","https://openalex.org/W2119963650","https://openalex.org/W2972304526","https://openalex.org/W1966025497","https://openalex.org/W2186864281","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W998473388","https://openalex.org/W2067693985","https://openalex.org/W2375415610"],"abstract_inverted_index":{"In":[0,68],"this":[1],"paper,":[2],"to":[3,129],"remedy":[4],"the":[5,28,41,54,72,75,89,100,131,138,156,160,188,193,197],"joint-angle":[6],"drift":[7],"phenomenon":[8],"for":[9,19,70,201],"manipulation":[10,203],"of":[11,35,44,58,74,162,192,204],"two":[12,36,101,107,163,170,205],"redundant":[13,164,206],"robot":[14,165,182,207],"arms,":[15,183],"a":[16,60,120,151],"novel":[17],"scheme":[18,195],"simultaneous":[20],"repetitive":[21],"motion":[22,76],"planning":[23,77],"and":[24,50,63,78,82,93,155,178,190,196],"control":[25],"(SRMPC)":[26],"at":[27],"joint-acceleration":[29],"level":[30],"is":[31,48,127,167],"proposed,":[32],"which":[33,59,111,135],"consists":[34],"subschemes.":[37],"To":[38],"do":[39],"so,":[40],"performance":[42],"index":[43],"each":[45],"SRMPC":[46,194],"subscheme":[47],"derived":[49],"designed":[51],"by":[52,175],"employing":[53],"gradient":[55],"dynamics":[56],"twice,":[57],"convergence":[61],"theorem":[62],"its":[64],"proof":[65],"are":[66,86,103,112,173],"presented.":[67],"addition,":[69],"improving":[71],"accuracy":[73,191],"control,":[79],"position":[80],"error,":[81],"velocity,":[83],"error":[84],"feedbacks":[85],"incorporated":[87],"into":[88,115],"forward":[90],"kinematics":[91],"equation":[92],"analyzed":[94],"via":[95,149],"Zhang":[96],"neural-dynamics":[97],"method.":[98],"Then":[99],"subschemes":[102],"simultaneously":[104],"reformulated":[105],"as":[106],"quadratic":[108],"programs":[109],"(QPs),":[110],"finally":[113],"unified":[114,132,152],"one":[116],"QP":[117,133,141,153],"problem.":[118],"Furthermore,":[119],"piecewise-linear":[121],"projection":[122],"equation-based":[123],"neural":[124],"network":[125],"(PLPENN)":[126],"used":[128],"solve":[130],"problem,":[134],"can":[136],"handle":[137],"strictly":[139],"convex":[140],"problem":[142],"in":[143],"an":[144],"inverse-free":[145],"manner.":[146],"More":[147],"importantly,":[148],"such":[150],"formulation":[154],"corresponding":[157,198],"PLPENN":[158,199],"solver,":[159],"synchronism":[161],"arms":[166],"guaranteed.":[168],"Finally,":[169],"given":[171],"tasks":[172],"fulfilled":[174],"2":[176,179],"three-link":[177],"five-link":[180],"planar":[181],"respectively.":[184],"Computer-simulation":[185],"results":[186],"validate":[187],"efficacy":[189],"solver":[200],"synchronous":[202],"arms.":[208]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":10},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":6},{"year":2021,"cited_by_count":17},{"year":2020,"cited_by_count":21},{"year":2019,"cited_by_count":16},{"year":2018,"cited_by_count":14},{"year":2017,"cited_by_count":31},{"year":2016,"cited_by_count":6},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}