{"id":"https://openalex.org/W3197811315","doi":"https://doi.org/10.1109/tsmc.2021.3107898","title":"6-Step Discrete ZNN Model for Repetitive Motion Control of Redundant Manipulator","display_name":"6-Step Discrete ZNN Model for Repetitive Motion Control of Redundant Manipulator","publication_year":2021,"publication_date":"2021-09-03","ids":{"openalex":"https://openalex.org/W3197811315","doi":"https://doi.org/10.1109/tsmc.2021.3107898","mag":"3197811315"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2021.3107898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3107898","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","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":null,"display_name":"Min Yang","orcid":"https://orcid.org/0000-0003-2550-0549"},"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":"Min Yang","raw_affiliation_strings":["School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0003-2550-0549","affiliations":[{"raw_affiliation_string":"School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China","institution_ids":["https://openalex.org/I157773358"]}]},{"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":"middle","author":{"id":"https://openalex.org/A5100388920","display_name":"Zhijun Zhang","orcid":"https://orcid.org/0000-0002-6859-3426"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Zhang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-6859-3426","affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5056953478","display_name":"Haifeng Hu","orcid":"https://orcid.org/0000-0002-4884-323X"},"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":"Haifeng Hu","raw_affiliation_strings":["School of Electronics and Information Technology, Sun Yat-sen University, Guangzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-4884-323X","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":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.7107,"has_fulltext":false,"cited_by_count":48,"citation_normalized_percentile":{"value":0.90347805,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":98,"max":100},"biblio":{"volume":"52","issue":"8","first_page":"4969","last_page":"4980"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9988999962806702,"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9988999962806702,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9972000122070312,"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":0.994700014591217,"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/discretization","display_name":"Discretization","score":0.839158296585083},{"id":"https://openalex.org/keywords/basis","display_name":"Basis (linear algebra)","score":0.6451539397239685},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.619613766670227},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5616055727005005},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.5496368408203125},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.54417884349823},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5367530584335327},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.5057559013366699},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4657868444919586},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.38575196266174316},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.375445693731308},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.37168702483177185},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.36416324973106384},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.20818474888801575},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16407623887062073},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.08749708533287048},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.06146383285522461}],"concepts":[{"id":"https://openalex.org/C73000952","wikidata":"https://www.wikidata.org/wiki/Q17007827","display_name":"Discretization","level":2,"score":0.839158296585083},{"id":"https://openalex.org/C12426560","wikidata":"https://www.wikidata.org/wiki/Q189569","display_name":"Basis (linear algebra)","level":2,"score":0.6451539397239685},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.619613766670227},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5616055727005005},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.5496368408203125},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.54417884349823},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5367530584335327},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.5057559013366699},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4657868444919586},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.38575196266174316},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.375445693731308},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.37168702483177185},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.36416324973106384},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.20818474888801575},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16407623887062073},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.08749708533287048},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.06146383285522461}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tsmc.2021.3107898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2021.3107898","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"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 Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2368597761","display_name":"\u57fa\u4e8e\u591a\u6a21\u6001\u4fe1\u53f7\u7684\u8111\u673a\u4ea4\u4e92\u53ca\u4e34\u5e8a\u5e94\u7528\u7814\u7a76","funder_award_id":"61633010","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G4228998522","display_name":null,"funder_award_id":"2017A030311029","funder_id":"https://openalex.org/F4320321921","funder_display_name":"Natural Science Foundation of Guangdong Province"},{"id":"https://openalex.org/G443862865","display_name":null,"funder_award_id":"61676262","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"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/G967642556","display_name":null,"funder_award_id":"61603142","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/F4320321921","display_name":"Natural Science Foundation of Guangdong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":54,"referenced_works":["https://openalex.org/W280536263","https://openalex.org/W405308472","https://openalex.org/W605390454","https://openalex.org/W1983152073","https://openalex.org/W1983931525","https://openalex.org/W2097677484","https://openalex.org/W2104621281","https://openalex.org/W2121205585","https://openalex.org/W2138594241","https://openalex.org/W2145238401","https://openalex.org/W2161874062","https://openalex.org/W2324541212","https://openalex.org/W2344053498","https://openalex.org/W2344560087","https://openalex.org/W2387477134","https://openalex.org/W2482430271","https://openalex.org/W2521872058","https://openalex.org/W2536318021","https://openalex.org/W2559957666","https://openalex.org/W2591999327","https://openalex.org/W2595448953","https://openalex.org/W2605564896","https://openalex.org/W2607322329","https://openalex.org/W2609869589","https://openalex.org/W2613446563","https://openalex.org/W2616170934","https://openalex.org/W2622727889","https://openalex.org/W2732094339","https://openalex.org/W2757619290","https://openalex.org/W2764226165","https://openalex.org/W2770970225","https://openalex.org/W2772169915","https://openalex.org/W2778083011","https://openalex.org/W2779147390","https://openalex.org/W2781841050","https://openalex.org/W2787568736","https://openalex.org/W2792852625","https://openalex.org/W2794096129","https://openalex.org/W2883844658","https://openalex.org/W2884988922","https://openalex.org/W2895670123","https://openalex.org/W2896719349","https://openalex.org/W2899034752","https://openalex.org/W2901085357","https://openalex.org/W2906244940","https://openalex.org/W2933599511","https://openalex.org/W2968624384","https://openalex.org/W2969389620","https://openalex.org/W2970853634","https://openalex.org/W2996951424","https://openalex.org/W3003250870","https://openalex.org/W3097056191","https://openalex.org/W4240172577","https://openalex.org/W4247080625"],"related_works":["https://openalex.org/W2006251942","https://openalex.org/W2364741597","https://openalex.org/W1492103595","https://openalex.org/W1864774435","https://openalex.org/W946352265","https://openalex.org/W3020787026","https://openalex.org/W2334479858","https://openalex.org/W2793786119","https://openalex.org/W1507702947","https://openalex.org/W2044900919"],"abstract_inverted_index":{"In":[0],"this":[1,54],"article,":[2],"the":[3,32,35,67,72,87,95,98,115,118,126,131,134,141,144,152,155],"repetitive":[4,14,88],"motion":[5,15,89],"control":[6,16,90],"of":[7,37,97,105,117,133,143,154],"redundant":[8,120],"manipulators":[9],"is":[10,18,28,45,82],"investigated.":[11],"First,":[12],"a":[13,21,38,57,77],"scheme":[17],"presented,":[19],"and":[20,71,129],"continuous":[22],"zeroing":[23,40],"neural":[24,41],"network":[25,42],"(CZNN)":[26],"model":[27,44,81],"obtained":[29],"for":[30,47,110],"solving":[31],"scheme.":[33,91],"Meanwhile,":[34],"development":[36],"discrete":[39,103],"(DZNN)":[43],"desired":[46],"convenient":[48],"computational":[49],"processing.":[50],"Based":[51],"on":[52,114,140],"this,":[53],"article":[55],"proposes":[56],"6-step":[58,68,78],"discretization":[59,69],"formula,":[60,76],"which":[61],"has":[62],"high":[63],"precision.":[64],"By":[65],"using":[66],"formula":[70],"4-step":[73],"backward":[74],"difference":[75],"DZNN":[79],"(6SDZNN)":[80],"further":[83],"proposed":[84],"to":[85],"handle":[86],"Theoretical":[92],"analyses":[93,128],"verify":[94],"efficacy":[96,132],"6SDZNN":[99,135,156],"model.":[100,136,157],"Additionally,":[101],"some":[102],"forms":[104],"conventional":[106],"models":[107],"are":[108,122],"developed":[109],"comparison.":[111],"Computer":[112],"simulations":[113],"basis":[116,142],"4-link":[119],"manipulator":[121,150],"carried":[123],"out,":[124],"verifying":[125],"theoretical":[127],"showing":[130],"Finally,":[137],"physical":[138],"experiments":[139],"Kinova":[145],"Jaco":[146],"<sup":[147],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[148],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">2</sup>":[149],"substantiate":[151],"practicability":[153]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":20},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":6}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}