{"id":"https://openalex.org/W7131816979","doi":"https://doi.org/10.1109/tie.2026.3656991","title":"Orthogonal Manipulability Optimization for OMRM With Neural Networks and Nonconvex Constraints","display_name":"Orthogonal Manipulability Optimization for OMRM With Neural Networks and Nonconvex Constraints","publication_year":2026,"publication_date":"2026-02-27","ids":{"openalex":"https://openalex.org/W7131816979","doi":"https://doi.org/10.1109/tie.2026.3656991"},"language":null,"primary_location":{"id":"doi:10.1109/tie.2026.3656991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3656991","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/A5127050379","display_name":"Shijun Tang","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":"Shijun Tang","raw_affiliation_strings":["National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0001-2045-2544","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Yunfeng Hu","orcid":"https://orcid.org/0000-0003-4068-0664"},"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":"Yunfeng Hu","raw_affiliation_strings":["National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0003-4068-0664","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5124771007","display_name":"Zhishuo Zhang","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":"Zhishuo Zhang","raw_affiliation_strings":["National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0009-0001-0018-3383","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China","institution_ids":["https://openalex.org/I194450716"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5127319431","display_name":"Zhiguo Tang","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":"Zhiguo Tang","raw_affiliation_strings":["National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, China"],"raw_orcid":"https://orcid.org/0000-0001-8779-9182","affiliations":[{"raw_affiliation_string":"National Key Laboratory of Automotive Chassis Integration and Bionics and Control, Jilin University, Changchun, 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":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.1960664,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"73","issue":"8","first_page":"11751","last_page":"11763"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.4034000039100647,"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":0.4034000039100647,"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":0.07479999959468842,"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/T10320","display_name":"Neural Networks and Applications","score":0.05559999868273735,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.7131999731063843},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6416000127792358},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5971999764442444},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5465999841690063},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5390999913215637},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4977000057697296},{"id":"https://openalex.org/keywords/maximization","display_name":"Maximization","score":0.48820000886917114},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4796000123023987},{"id":"https://openalex.org/keywords/coupling","display_name":"Coupling (piping)","score":0.412200003862381}],"concepts":[{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.7131999731063843},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6416000127792358},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6080999970436096},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5971999764442444},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5465999841690063},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5390999913215637},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4977000057697296},{"id":"https://openalex.org/C2776330181","wikidata":"https://www.wikidata.org/wiki/Q18358244","display_name":"Maximization","level":2,"score":0.48820000886917114},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4796000123023987},{"id":"https://openalex.org/C131584629","wikidata":"https://www.wikidata.org/wiki/Q4308705","display_name":"Coupling (piping)","level":2,"score":0.412200003862381},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4023999869823456},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.3935999870300293},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.3538999855518341},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.3422999978065491},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.3375999927520752},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3127000033855438},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.3089999854564667},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.29089999198913574},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.28940001130104065},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.28700000047683716},{"id":"https://openalex.org/C65557600","wikidata":"https://www.wikidata.org/wiki/Q7249451","display_name":"Projection method","level":3,"score":0.27790001034736633},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2745000123977661},{"id":"https://openalex.org/C173064807","wikidata":"https://www.wikidata.org/wiki/Q7233190","display_name":"Position error","level":3,"score":0.27320000529289246},{"id":"https://openalex.org/C175694140","wikidata":"https://www.wikidata.org/wiki/Q980329","display_name":"Orthographic projection","level":2,"score":0.2687000036239624},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.26190000772476196},{"id":"https://openalex.org/C115527620","wikidata":"https://www.wikidata.org/wiki/Q769909","display_name":"Nonlinear programming","level":3,"score":0.25429999828338623}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tie.2026.3656991","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tie.2026.3656991","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":[],"awards":[{"id":"https://openalex.org/G1162782305","display_name":null,"funder_award_id":"21ZY41","funder_id":"https://openalex.org/F4320336735","funder_display_name":"Changchun Science and Technology Planning Project"},{"id":"https://openalex.org/G8570558935","display_name":null,"funder_award_id":"52472430","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"},{"id":"https://openalex.org/F4320336735","display_name":"Changchun Science and Technology Planning Project","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Manipulability":[0],"optimization":[1,29,55],"is":[2,104,130,146],"critical":[3],"for":[4],"avoiding":[5],"singularities":[6],"in":[7,35,90],"an":[8,51,68,115],"omnidirectional":[9],"mobile":[10],"redundant":[11],"manipulator":[12],"(OMRM),":[13],"yet":[14],"its":[15],"intrinsic":[16],"nonlinearity":[17],"and":[18,30,65,122,137,139,153,159,165],"nonconvexity":[19],"introduce":[20],"substantial":[21],"computational":[22,124],"challenges.":[23],"Furthermore,":[24],"the":[25,74,85,111,140,143,157,162],"coupling":[26],"between":[27],"manipulability":[28,53,66],"position":[31,63,75,135],"error":[32,64,76,136],"inevitably":[33],"results":[34,152],"a":[36,98],"theoretically":[37,78,131],"nonzero":[38],"error,":[39],"thereby":[40,118],"compromising":[41],"control":[42,96],"accuracy.":[43],"To":[44,93],"address":[45],"these":[46],"issues,":[47],"this":[48],"article":[49],"proposes":[50],"orthogonal":[52,69],"maximization":[54],"under":[56],"non-convex":[57,99],"constraints":[58],"(OMMONC)":[59],"scheme,":[60],"which":[61,106],"decouples":[62],"through":[67],"projection":[70],"matrix.":[71],"It":[72],"drives":[73],"to":[77,80,133],"converge":[79],"zero,":[81],"while":[82],"simultaneously":[83],"reducing":[84],"risk":[86],"of":[87,110,142,161],"singular":[88],"postures":[89],"motion":[91],"control.":[92],"generate":[94],"smooth":[95],"signals,":[97],"recurrent":[100],"neural":[101],"network":[102],"(NCRNN)":[103],"developed,":[105],"realizes":[107],"real-time":[108],"computation":[109],"OMMONC":[112,128],"scheme":[113,129,164],"via":[114],"inverse-free":[116],"solution,":[117],"mitigating":[119],"lag-induced":[120],"errors":[121],"enhancing":[123],"efficiency.":[125],"The":[126],"proposed":[127,163],"proven":[132],"decouple":[134],"manipulability,":[138],"convergence":[141],"NCRNN":[144],"model":[145],"also":[147],"demonstrated.":[148],"Numerical":[149],"simulations,":[150],"comparative":[151],"platform":[154],"experiments":[155],"verify":[156],"validity":[158],"superiority":[160],"model.":[166]},"counts_by_year":[],"updated_date":"2026-06-25T06:16:34.145877","created_date":"2026-02-28T00:00:00"}