{"id":"https://openalex.org/W4391147904","doi":"https://doi.org/10.1109/tnnls.2024.3351674","title":"Novel Snap-Layer MMPC Scheme via Neural Dynamics Equivalency and Solver for Redundant Robot Arms With Five-Layer Physical Limits","display_name":"Novel Snap-Layer MMPC Scheme via Neural Dynamics Equivalency and Solver for Redundant Robot Arms With Five-Layer Physical Limits","publication_year":2024,"publication_date":"2024-01-23","ids":{"openalex":"https://openalex.org/W4391147904","doi":"https://doi.org/10.1109/tnnls.2024.3351674","pmid":"https://pubmed.ncbi.nlm.nih.gov/38261499"},"language":"en","primary_location":{"id":"doi:10.1109/tnnls.2024.3351674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3351674","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","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/A5043980363","display_name":"Zanyu Tang","orcid":"https://orcid.org/0000-0002-7460-8874"},"institutions":[{"id":"https://openalex.org/I144581915","display_name":"Jishou University","ror":"https://ror.org/056szk247","country_code":"CN","type":"education","lineage":["https://openalex.org/I144581915"]},{"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":true,"raw_author_name":"Zanyu Tang","raw_affiliation_strings":["School of Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China","School of Computer Science and Engineering, Jishou University, Jishou, China"],"raw_orcid":"https://orcid.org/0000-0002-7460-8874","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":"School of Computer Science and Engineering, Jishou University, Jishou, China","institution_ids":["https://openalex.org/I144581915"]}]},{"author_position":"middle","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 Computer Science and Engineering, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-2228-0395","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/A5024391151","display_name":"Liangjie Ming","orcid":null},"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":"Liangjie Ming","raw_affiliation_strings":["School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5043980363"],"corresponding_institution_ids":["https://openalex.org/I144581915","https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":11.1209,"has_fulltext":false,"cited_by_count":37,"citation_normalized_percentile":{"value":0.98991308,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"36","issue":"2","first_page":"3534","last_page":"3546"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9955000281333923,"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":0.9952999949455261,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jerk","display_name":"Jerk","score":0.7698836326599121},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6671887636184692},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.4915107190608978},{"id":"https://openalex.org/keywords/layer","display_name":"Layer (electronics)","score":0.4545215964317322},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3540526032447815},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.313670814037323},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.2872421145439148},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.18807581067085266},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.15169689059257507},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.09245443344116211}],"concepts":[{"id":"https://openalex.org/C181605269","wikidata":"https://www.wikidata.org/wiki/Q497332","display_name":"Jerk","level":3,"score":0.7698836326599121},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6671887636184692},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.4915107190608978},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.4545215964317322},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3540526032447815},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.313670814037323},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.2872421145439148},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.18807581067085266},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.15169689059257507},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.09245443344116211},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tnnls.2024.3351674","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tnnls.2024.3351674","pdf_url":null,"source":{"id":"https://openalex.org/S4210175523","display_name":"IEEE Transactions on Neural Networks and Learning Systems","issn_l":"2162-237X","issn":["2162-237X","2162-2388"],"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 Neural Networks and Learning Systems","raw_type":"journal-article"},{"id":"pmid:38261499","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/38261499","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 neural networks and learning systems","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G6387825162","display_name":null,"funder_award_id":"61976230","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7859668986","display_name":null,"funder_award_id":"2023JJ30485","funder_id":"https://openalex.org/F4320322843","funder_display_name":"Natural Science Foundation of\u00a0Hunan Province"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322843","display_name":"Natural Science Foundation of\u00a0Hunan Province","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W405308472","https://openalex.org/W1983931525","https://openalex.org/W2012878661","https://openalex.org/W2028835310","https://openalex.org/W2073866028","https://openalex.org/W2079900828","https://openalex.org/W2113327788","https://openalex.org/W2120577814","https://openalex.org/W2444581964","https://openalex.org/W2461045134","https://openalex.org/W2531066444","https://openalex.org/W2605564896","https://openalex.org/W2744681902","https://openalex.org/W2779675674","https://openalex.org/W2789948227","https://openalex.org/W2963441908","https://openalex.org/W2963852576","https://openalex.org/W2972121013","https://openalex.org/W2973099332","https://openalex.org/W2989641972","https://openalex.org/W2993058161","https://openalex.org/W3008209470","https://openalex.org/W3012093354","https://openalex.org/W3016899151","https://openalex.org/W3024704601","https://openalex.org/W3035291983","https://openalex.org/W3036514852","https://openalex.org/W3045788253","https://openalex.org/W3093499421","https://openalex.org/W3126225041","https://openalex.org/W3134106660","https://openalex.org/W3135101032","https://openalex.org/W3153754864","https://openalex.org/W3160842974","https://openalex.org/W3185692593","https://openalex.org/W3198045838","https://openalex.org/W3200676471","https://openalex.org/W3202658886","https://openalex.org/W3212159742","https://openalex.org/W3215308088","https://openalex.org/W4213003405","https://openalex.org/W4293827779","https://openalex.org/W4300003391","https://openalex.org/W4372335793"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2497204748","https://openalex.org/W4281395624","https://openalex.org/W2351684991","https://openalex.org/W1561345858","https://openalex.org/W2539932329","https://openalex.org/W1983113136","https://openalex.org/W2392989031","https://openalex.org/W4293226006","https://openalex.org/W2085178290"],"abstract_inverted_index":{"To":[0],"obtain":[1],"smoother":[2],"kinematic":[3],"control":[4,22],"of":[5,42,49,129,149,170],"minimum":[6,11,18,186],"motion,":[7],"a":[8,61,85,119,155],"novel":[9],"snap-layer":[10,55,75,97,113,134,173],"motion":[12,19],"scheme,":[13],"otherwise":[14],"known":[15],"as":[16,118],"the":[17,32,39,47,54,96,107,111,125,146,150,166,171,180,185],"planning":[20],"and":[21,46,74,81,100,142,168,184],"(MMPC)":[23],"scheme":[24,115,175,183],"for":[25,31],"redundant":[26,130,159],"robot":[27,131,160],"arms,":[28],"is":[29,58,116,140],"proposed":[30,112,172],"first":[33],"time":[34],"in":[35],"this":[36],"study.":[37],"With":[38],"primary":[40],"task":[41],"tracking":[43],"planned":[44],"paths":[45],"consideration":[48],"satisfying":[50],"five-layer":[51],"physical":[52,67,127],"limits,":[53,76],"MMPC":[56,114,174,182],"problem":[57],"transformed":[59,83],"into":[60,84],"quadratic":[62],"programming":[63],"(QP)":[64],"problem.":[65],"Five-layer":[66],"limits":[68],"include":[69],"angle-layer,":[70],"velocity-layer,":[71],"acceleration-layer,":[72],"jerk-layer,":[73],"which":[77],"are":[78,103,162],"all":[79],"considered":[80],"then":[82],"unified-layer":[86],"bounded":[87],"constraint":[88,102],"through":[89],"Zhang":[90],"neural":[91,136,147],"dynamics":[92,137],"(ZND)":[93],"equivalency.":[94],"Furthermore,":[95],"performance":[98],"index":[99],"equation":[101],"derived":[104],"by":[105,176],"utilizing":[106],"ZND":[108],"formula.":[109],"Therefore,":[110],"formulated":[117],"standard":[120],"QP":[121],"that":[122],"can":[123],"avoid":[124],"potential":[126],"damage":[128],"arms.":[132],"The":[133],"projection":[135],"(PND)":[138],"solver":[139],"presented":[141,163],"used":[143],"to":[144,164],"acquire":[145],"solution":[148],"QP.":[151],"Simulation":[152],"results":[153],"on":[154],"6-degrees-of-freedom":[156],"(DOF)":[157],"planar":[158],"arm":[161],"substantiate":[165],"effectiveness":[167],"superiority":[169],"comparing":[177],"it":[178],"with":[179],"jerk-layer":[181],"snap":[187],"norm":[188],"(MSN)":[189],"scheme.":[190]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":3}],"updated_date":"2026-05-22T09:01:20.584952","created_date":"2025-10-10T00:00:00"}