{"id":"https://openalex.org/W2591194352","doi":"https://doi.org/10.1109/tie.2017.2674624","title":"Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks","display_name":"Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks","publication_year":2017,"publication_date":"2017-02-24","ids":{"openalex":"https://openalex.org/W2591194352","doi":"https://doi.org/10.1109/tie.2017.2674624","mag":"2591194352"},"language":"en","primary_location":{"id":"doi:10.1109/tie.2017.2674624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2674624","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","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/A5100703636","display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-5329-5098"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":true,"raw_author_name":"Long Jin","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I14243506","display_name":"Hong Kong Polytechnic University","ror":"https://ror.org/0030zas98","country_code":"HK","type":"education","lineage":["https://openalex.org/I14243506"]}],"countries":["HK"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["Department of Computing, The Hong Kong Polytechnic University, Kowloon, Hong Kong"],"affiliations":[{"raw_affiliation_string":"Department of Computing, The Hong Kong Polytechnic University, Kowloon, Hong Kong","institution_ids":["https://openalex.org/I14243506"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060555317","display_name":"Hung Manh La","orcid":"https://orcid.org/0000-0003-2183-2634"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hung Manh La","raw_affiliation_strings":["Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Computer Science and Engineering, University of Nevada, Reno, NV, USA","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088955392","display_name":"Xin Luo","orcid":"https://orcid.org/0000-0002-1348-5305"},"institutions":[{"id":"https://openalex.org/I4210123021","display_name":"Chongqing Institute of Green and Intelligent Technology","ror":"https://ror.org/031npqv35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I19820366","https://openalex.org/I4210123021"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Luo","raw_affiliation_strings":["Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China"],"affiliations":[{"raw_affiliation_string":"Chongqing Institute of Green and Intelligent Technology, Chinese Academy of Sciences, Chongqing, China","institution_ids":["https://openalex.org/I4210123021"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5100703636"],"corresponding_institution_ids":["https://openalex.org/I14243506"],"apc_list":null,"apc_paid":null,"fwci":42.4032,"has_fulltext":false,"cited_by_count":372,"citation_normalized_percentile":{"value":0.99942696,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":"64","issue":"6","first_page":"4710","last_page":"4720"},"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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9965999722480774,"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":0.569642961025238},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5327475070953369},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.488603413105011},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.48416954278945923},{"id":"https://openalex.org/keywords/affine-transformation","display_name":"Affine transformation","score":0.4583745002746582},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43205779790878296},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.38346970081329346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.22367370128631592},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.13745617866516113}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.569642961025238},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5327475070953369},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.488603413105011},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.48416954278945923},{"id":"https://openalex.org/C92757383","wikidata":"https://www.wikidata.org/wiki/Q382497","display_name":"Affine transformation","level":2,"score":0.4583745002746582},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43205779790878296},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.38346970081329346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.22367370128631592},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.13745617866516113},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2017.2674624","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2017.2674624","pdf_url":null,"source":{"id":"https://openalex.org/S58031724","display_name":"IEEE Transactions on Industrial Electronics","issn_l":"0278-0046","issn":["0278-0046","1557-9948"],"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 Industrial Electronics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.4000000059604645,"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities"}],"awards":[{"id":"https://openalex.org/G558453951","display_name":null,"funder_award_id":"61611130209","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7441152539","display_name":null,"funder_award_id":"61401385","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":36,"referenced_works":["https://openalex.org/W1977431861","https://openalex.org/W1980795221","https://openalex.org/W1988876996","https://openalex.org/W1993989609","https://openalex.org/W1996099152","https://openalex.org/W1998869641","https://openalex.org/W2021338655","https://openalex.org/W2029781456","https://openalex.org/W2049410986","https://openalex.org/W2056800856","https://openalex.org/W2065894561","https://openalex.org/W2073554986","https://openalex.org/W2076207470","https://openalex.org/W2100940538","https://openalex.org/W2106784678","https://openalex.org/W2124872785","https://openalex.org/W2149974730","https://openalex.org/W2290966563","https://openalex.org/W2296319761","https://openalex.org/W2330589301","https://openalex.org/W2333718310","https://openalex.org/W2335344364","https://openalex.org/W2344053498","https://openalex.org/W2344929049","https://openalex.org/W2390401404","https://openalex.org/W2412011606","https://openalex.org/W2415733029","https://openalex.org/W2461045134","https://openalex.org/W2467979783","https://openalex.org/W2518095910","https://openalex.org/W2520681647","https://openalex.org/W2559957666","https://openalex.org/W2590049292","https://openalex.org/W2605564896","https://openalex.org/W2978238386","https://openalex.org/W4250589301"],"related_works":["https://openalex.org/W2038416447","https://openalex.org/W3217415483","https://openalex.org/W4285677055","https://openalex.org/W3104770499","https://openalex.org/W1992731528","https://openalex.org/W2007843488","https://openalex.org/W1994436307","https://openalex.org/W2795565301","https://openalex.org/W1987021796","https://openalex.org/W4387886124"],"abstract_inverted_index":{"For":[0],"solving":[1],"the":[2,7,34,43,50,63,126,130,133,171,174,179,187,193],"singularity":[3],"problem":[4,160],"arising":[5],"in":[6,49,99],"control":[8,91],"of":[9,37,45,52,89,192],"manipulators,":[10],"an":[11,46,100],"efficient":[12],"way":[13],"is":[14,21,29,123,137,154],"to":[15,23,33,62,125,156,170],"maximize":[16],"its":[17],"manipulability.":[18],"However,":[19],"it":[20,28,55],"challenging":[22],"optimize":[24],"manipulability":[25,53,78,120,134,180,195],"effectively":[26],"because":[27],"a":[30,38,82,141,146,159],"nonconvex":[31],"function":[32],"joint":[35,127],"angles":[36],"robotic":[39],"arm.":[40],"In":[41,70],"addition,":[42],"involvement":[44],"inversion":[47,109],"operation":[48],"expression":[51],"makes":[54],"even":[56],"hard":[57],"for":[58,67,86,93],"timely":[59],"optimization":[60,79,135,196],"due":[61],"intensively":[64],"computational":[65],"burden":[66],"matrix":[68,108],"inversion.":[69],"this":[71],"paper,":[72],"we":[73],"make":[74],"progress":[75],"on":[76,183],"real-time":[77],"by":[80],"establishing":[81],"dynamic":[83,147],"neural":[84,148],"network":[85,149],"recurrent":[87],"calculation":[88],"manipulability-maximal":[90],"actions":[92],"redundant":[94],"manipulators":[95],"under":[96],"physical":[97,113],"constraints":[98],"inverse-free":[101],"manner.":[102],"By":[103],"expressing":[104],"position":[105],"tracking":[106],"and":[107,118,166,190],"as":[110,115,129,140],"equality":[111],"constraints,":[112,117],"limits":[114],"inequality":[116],"velocity-level":[119],"measure,":[121],"which":[122,185],"affine":[124],"velocities,":[128],"objective":[131],"function,":[132],"scheme":[136,176],"further":[138],"formulated":[139],"constrained":[142],"quadratic":[143],"program.":[144],"Then,":[145],"with":[150],"rigorously":[151],"provable":[152],"convergence":[153],"constructed":[155],"solve":[157],"such":[158],"online.":[161],"Computer":[162],"simulations":[163],"are":[164],"conducted":[165],"show":[167],"that,":[168],"compared":[169],"existing":[172],"methods,":[173],"proposed":[175,194],"can":[177],"raise":[178],"almost":[181],"40%":[182],"average,":[184],"substantiates":[186],"efficacy,":[188],"accuracy,":[189],"superiority":[191],"scheme.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":35},{"year":2024,"cited_by_count":23},{"year":2023,"cited_by_count":35},{"year":2022,"cited_by_count":28},{"year":2021,"cited_by_count":39},{"year":2020,"cited_by_count":73},{"year":2019,"cited_by_count":60},{"year":2018,"cited_by_count":39},{"year":2017,"cited_by_count":36}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}