{"id":"https://openalex.org/W4220910547","doi":"https://doi.org/10.1109/tim.2022.3161713","title":"New Varying-Parameter Recursive Neural Networks for Model-Free Kinematic Control of Redundant Manipulators With Limited Measurements","display_name":"New Varying-Parameter Recursive Neural Networks for Model-Free Kinematic Control of Redundant Manipulators With Limited Measurements","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4220910547","doi":"https://doi.org/10.1109/tim.2022.3161713"},"language":"en","primary_location":{"id":"doi:10.1109/tim.2022.3161713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3161713","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","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/A5100741008","display_name":"Ning Tan","orcid":"https://orcid.org/0000-0003-0710-6409"},"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"]},{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Ning Tan","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5020189974","display_name":"Peng Yu","orcid":"https://orcid.org/0000-0001-6310-514X"},"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":"Peng Yu","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044426425","display_name":"Fenglei Ni","orcid":"https://orcid.org/0000-0002-0184-1421"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]},{"id":"https://openalex.org/I4391767639","display_name":"State Key Laboratory of Robotics and Systems","ror":"https://ror.org/015m77g16","country_code":null,"type":"facility","lineage":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fenglei Ni","raw_affiliation_strings":["State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Robotics and Systems, Harbin Institute of Technology (HIT), Harbin, China","institution_ids":["https://openalex.org/I204983213","https://openalex.org/I4391767639"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5100741008"],"corresponding_institution_ids":["https://openalex.org/I157773358","https://openalex.org/I204983213","https://openalex.org/I4391767639"],"apc_list":null,"apc_paid":null,"fwci":2.667,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.89599415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"71","issue":null,"first_page":"1","last_page":"14"},"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":0.9980999827384949,"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/T11525","display_name":"Piezoelectric Actuators and Control","score":0.994700014591217,"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/recurrent-neural-network","display_name":"Recurrent neural network","score":0.8742574453353882},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7251468896865845},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5719739198684692},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.5681219100952148},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5499718189239502},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4980301856994629},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.47876372933387756},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.44359737634658813},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42587780952453613},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.3537529706954956},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.25340336561203003},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22512468695640564},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20430916547775269},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1380685269832611}],"concepts":[{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.8742574453353882},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7251468896865845},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5719739198684692},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.5681219100952148},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5499718189239502},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4980301856994629},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.47876372933387756},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.44359737634658813},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42587780952453613},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.3537529706954956},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.25340336561203003},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22512468695640564},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20430916547775269},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1380685269832611},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tim.2022.3161713","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tim.2022.3161713","pdf_url":null,"source":{"id":"https://openalex.org/S10892749","display_name":"IEEE Transactions on Instrumentation and Measurement","issn_l":"0018-9456","issn":["0018-9456","1557-9662"],"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 Instrumentation and Measurement","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1158256415","display_name":null,"funder_award_id":"62173352","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G2320314018","display_name":null,"funder_award_id":"2021A1515012314","funder_id":"https://openalex.org/F4320337111","funder_display_name":"Basic and Applied Basic Research Foundation of Guangdong Province"},{"id":"https://openalex.org/G5894803357","display_name":null,"funder_award_id":"SKLRS-2021-KF-07","funder_id":"https://openalex.org/F4320327001","funder_display_name":"State Key Laboratory of Robotics and System"},{"id":"https://openalex.org/G7807683728","display_name":null,"funder_award_id":"202007030004","funder_id":"https://openalex.org/F4320335956","funder_display_name":"Key Technologies Research and Development Program of Guangzhou"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320327001","display_name":"State Key Laboratory of Robotics and System","ror":null},{"id":"https://openalex.org/F4320335956","display_name":"Key Technologies Research and Development Program of Guangzhou","ror":null},{"id":"https://openalex.org/F4320337111","display_name":"Basic and Applied Basic Research Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":49,"referenced_works":["https://openalex.org/W1504986959","https://openalex.org/W1965214787","https://openalex.org/W1977240978","https://openalex.org/W1977431861","https://openalex.org/W1988796327","https://openalex.org/W2015162542","https://openalex.org/W2053485789","https://openalex.org/W2073554986","https://openalex.org/W2075929513","https://openalex.org/W2079900828","https://openalex.org/W2086907168","https://openalex.org/W2093738064","https://openalex.org/W2102227134","https://openalex.org/W2133702739","https://openalex.org/W2485992890","https://openalex.org/W2765094417","https://openalex.org/W2765705032","https://openalex.org/W2789246897","https://openalex.org/W2791994602","https://openalex.org/W2793953252","https://openalex.org/W2806385803","https://openalex.org/W2808323905","https://openalex.org/W2898248625","https://openalex.org/W2922391289","https://openalex.org/W2936973782","https://openalex.org/W2941887520","https://openalex.org/W2946314455","https://openalex.org/W2969389620","https://openalex.org/W2972491305","https://openalex.org/W2973166946","https://openalex.org/W2973547746","https://openalex.org/W2976157364","https://openalex.org/W2996469688","https://openalex.org/W3007403834","https://openalex.org/W3008051049","https://openalex.org/W3008784897","https://openalex.org/W3016899151","https://openalex.org/W3021939118","https://openalex.org/W3023630091","https://openalex.org/W3024094413","https://openalex.org/W3032725623","https://openalex.org/W3120917290","https://openalex.org/W3124575662","https://openalex.org/W3158638107","https://openalex.org/W3185692593","https://openalex.org/W3198108247","https://openalex.org/W3200676471","https://openalex.org/W3201438702","https://openalex.org/W4225494969"],"related_works":["https://openalex.org/W2007405763","https://openalex.org/W3136087161","https://openalex.org/W1486373823","https://openalex.org/W2119578520","https://openalex.org/W2053762185","https://openalex.org/W2913611334","https://openalex.org/W1984283682","https://openalex.org/W1965257389","https://openalex.org/W2018238589","https://openalex.org/W4240233348"],"abstract_inverted_index":{"Taking":[0],"advantage":[1],"of":[2,19,41,49,61,73,84,92,127,136,147,166,190,204,224],"the":[3,6,16,23,29,47,59,62,81,90,133,144,150,164,177,188,198,202,215,220,225],"computational":[4],"efficacy,":[5],"recursive":[7],"neural":[8],"network":[9],"(RNN)":[10],"has":[11],"been":[12],"successfully":[13],"applied":[14],"to":[15,36,79,131,142,159,162,185],"tracking":[17],"control":[18,25,83,108,120,155,227],"redundant":[20,85,137],"manipulators.":[21,86,148],"However,":[22],"existing":[24,63,74],"system":[26,109,121,156],"based":[27,213],"on":[28,176,214],"fixed-parameter":[30],"RNN":[31,76],"(FP-RNN)":[32],"model":[33,104,141,153],"is":[34,129],"found":[35],"be":[37],"deficient":[38],"in":[39,168],"terms":[40],"convergence,":[42],"robustness,":[43],"and":[44,46,53,69,105,113,139,154,171,194,206,211,222],"practicability,":[45],"measurements":[48,203],"end-effector":[50,179,192],"position,":[51,180],"velocity,":[52],"acceleration":[54],"are":[55,157,183],"necessary.":[56],"To":[57],"overcome":[58],"limitations":[60],"FP-RNN-based":[64],"method,":[65],"this":[66,96],"article":[67,97],"investigates":[68],"discretizes":[70],"three":[71],"kinds":[72],"varying-parameter":[75],"(VP-RNN)":[77],"models":[78],"achieve":[80],"model-free":[82,107],"More":[87],"importantly,":[88],"considering":[89],"drawbacks":[91],"these":[93],"VP-RNN":[94,102],"models,":[95,125],"proposes":[98],"a":[99,106],"new":[100],"continuous-time":[101],"(CVP-RNN)":[103],"with":[110,187],"finite-time":[111],"convergence":[112],"noise-rejection":[114],"capability,":[115],"using":[116],"limited":[117],"measurements.":[118],"The":[119],"includes":[122],"two":[123],"CVP-RNN":[124,152,167],"one":[126],"which":[128],"utilized":[130],"estimate":[132],"Jacobian":[134],"matrix":[135],"manipulators":[138],"another":[140],"solve":[143],"inverse":[145],"kinematics":[146],"Moreover,":[149],"proposed":[151,199,226],"improved":[158],"discrete":[160],"form":[161],"facilitate":[163],"deployment":[165],"digital":[169],"circuits":[170],"numerical":[172],"algorithm":[173,200],"development.":[174],"Based":[175],"measurable":[178],"low-pass":[181],"filters":[182],"exploited":[184],"deal":[186],"problem":[189],"immeasurable":[191],"velocity":[193,205],"acceleration,":[195],"thereby":[196],"implementing":[197],"without":[201],"acceleration.":[207],"Finally,":[208],"both":[209],"simulation":[210],"experiment":[212],"KINOVA":[216],"Gen2":[217],"manipulator":[218],"substantiate":[219],"efficacy":[221],"merits":[223],"method.":[228]},"counts_by_year":[{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}