{"id":"https://openalex.org/W3176033115","doi":"https://doi.org/10.1109/saci51354.2021.9465623","title":"Accelerated Reduced Gradient Algorithm for Solving the Inverse Kinematic Task of Redundant Open Kinematic Chains","display_name":"Accelerated Reduced Gradient Algorithm for Solving the Inverse Kinematic Task of Redundant Open Kinematic Chains","publication_year":2021,"publication_date":"2021-05-19","ids":{"openalex":"https://openalex.org/W3176033115","doi":"https://doi.org/10.1109/saci51354.2021.9465623","mag":"3176033115"},"language":"en","primary_location":{"id":"doi:10.1109/saci51354.2021.9465623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/saci51354.2021.9465623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 15th International Symposium on Applied Computational Intelligence and Informatics (SACI)","raw_type":"proceedings-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/A5026848080","display_name":"Hazem Issa","orcid":"https://orcid.org/0000-0002-4051-7368"},"institutions":[{"id":"https://openalex.org/I4210131439","display_name":"Applied Mathematics (United States)","ror":"https://ror.org/03seew607","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131439"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Hazem Issa","raw_affiliation_strings":["Doctoral School of Applied Informatics and Applied Mathematics"],"affiliations":[{"raw_affiliation_string":"Doctoral School of Applied Informatics and Applied Mathematics","institution_ids":["https://openalex.org/I4210131439"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091226370","display_name":"Bence Varga","orcid":"https://orcid.org/0000-0002-4739-8680"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bence Varga","raw_affiliation_strings":["Don\u00e1t B\u00e1nki Faculty of Mechanical and Safety Engineering, Institute of Mechatronics and Vehicle Engineering"],"affiliations":[{"raw_affiliation_string":"Don\u00e1t B\u00e1nki Faculty of Mechanical and Safety Engineering, Institute of Mechatronics and Vehicle Engineering","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5064681571","display_name":"J\u00f3zsef K. Tar","orcid":"https://orcid.org/0000-0002-5476-401X"},"institutions":[{"id":"https://openalex.org/I4210131439","display_name":"Applied Mathematics (United States)","ror":"https://ror.org/03seew607","country_code":"US","type":"company","lineage":["https://openalex.org/I4210131439"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]},{"id":"https://openalex.org/I103356709","display_name":"Obuda University","ror":"https://ror.org/00ax71d21","country_code":"HU","type":"education","lineage":["https://openalex.org/I103356709"]}],"countries":["HU","US"],"is_corresponding":false,"raw_author_name":"Jozsef K. Tar","raw_affiliation_strings":["Antal Bejczy Center for Intelligent Robotics, University Research and Innovation Center","Doctoral School of Applied Informatics and Applied Mathematics","Institute of Applied Mathematics, John von Neumann Faculty of Informatics, \u00d3buda University, Budapest, Hungary"],"affiliations":[{"raw_affiliation_string":"Antal Bejczy Center for Intelligent Robotics, University Research and Innovation Center","institution_ids":["https://openalex.org/I4210116723"]},{"raw_affiliation_string":"Doctoral School of Applied Informatics and Applied Mathematics","institution_ids":["https://openalex.org/I4210131439"]},{"raw_affiliation_string":"Institute of Applied Mathematics, John von Neumann Faculty of Informatics, \u00d3buda University, Budapest, Hungary","institution_ids":["https://openalex.org/I103356709"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5026848080"],"corresponding_institution_ids":["https://openalex.org/I4210131439"],"apc_list":null,"apc_paid":null,"fwci":0.5493,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.65024674,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"000387","last_page":"000392"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":1.0,"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":1.0,"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/T11245","display_name":"Advanced Numerical Analysis Techniques","score":0.9947999715805054,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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":0.9912999868392944,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7109613418579102},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7033669948577881},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6012104153633118},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5407651662826538},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.49345436692237854},{"id":"https://openalex.org/keywords/lagrange-multiplier","display_name":"Lagrange multiplier","score":0.4923769235610962},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.44774821400642395},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4325343072414398},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.42821332812309265},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.37040531635284424},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3396396040916443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31710073351860046},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2975955605506897},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15630224347114563},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.07702937722206116}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7109613418579102},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7033669948577881},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6012104153633118},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5407651662826538},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.49345436692237854},{"id":"https://openalex.org/C73684929","wikidata":"https://www.wikidata.org/wiki/Q598870","display_name":"Lagrange multiplier","level":2,"score":0.4923769235610962},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.44774821400642395},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4325343072414398},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.42821332812309265},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.37040531635284424},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3396396040916443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31710073351860046},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2975955605506897},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15630224347114563},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.07702937722206116},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/saci51354.2021.9465623","is_oa":false,"landing_page_url":"https://doi.org/10.1109/saci51354.2021.9465623","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE 15th International Symposium on Applied Computational Intelligence and Informatics (SACI)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1974511160","https://openalex.org/W2005423095","https://openalex.org/W2010589019","https://openalex.org/W2011777324","https://openalex.org/W2013498286","https://openalex.org/W2049410986","https://openalex.org/W2087070363","https://openalex.org/W2109464322","https://openalex.org/W2116937526","https://openalex.org/W2126479355","https://openalex.org/W2144629157","https://openalex.org/W2256578114","https://openalex.org/W2293547800","https://openalex.org/W2323980249","https://openalex.org/W2997687279","https://openalex.org/W2999024589","https://openalex.org/W3000598214","https://openalex.org/W3136594771","https://openalex.org/W3166175008","https://openalex.org/W6651805951","https://openalex.org/W6653429233","https://openalex.org/W6696951806","https://openalex.org/W6791791529"],"related_works":["https://openalex.org/W4240233348","https://openalex.org/W2115240519","https://openalex.org/W2084494155","https://openalex.org/W2367567586","https://openalex.org/W2380210784","https://openalex.org/W2770397302","https://openalex.org/W2064179689","https://openalex.org/W998473388","https://openalex.org/W2972304526","https://openalex.org/W2119963650"],"abstract_inverted_index":{"The":[0,59,166],"solution":[1,34,156],"of":[2,8,49,61,72,76,95,117,141,157,162],"the":[3,25,29,33,47,62,73,77,83,90,115,118,123,139,145,154,158],"differential":[4],"inverse":[5,159],"kinematic":[6,11,26,160,174],"task":[7,20,27,44,161],"redundant":[9,163],"open":[10],"chains":[12],"normally":[13],"can":[14,53,65,100,111],"be":[15,54,66,101,112,136],"formulated":[16],"as":[17],"an":[18],"optimization":[19],"under":[21],"constraints":[22],"in":[23,46,170],"which":[24],"means":[28],"constraint":[30,125],"equations":[31,126],"and":[32],"is":[35,150,168],"made":[36],"unambiguous":[37],"by":[38,68],"minimizing":[39],"some":[40],"cost":[41,51,84],"function.":[42],"This":[43],"only":[45],"case":[48,131],"quadratic":[50],"functions":[52],"solved":[55],"without":[56],"numerical":[57,93],"iteration.":[58],"ambiguity":[60],"possible":[63],"solutions":[64],"utilized":[67],"\u201cadding\u201d":[69],"certain":[70],"elements":[71],"null":[74],"space":[75],"Jacobian":[78],"to":[79,122],"this":[80,108,130,148],"solution.":[81],"If":[82],"function":[85],"has":[86],"more":[87,91],"complex":[88],"structure":[89,175],"general":[92],"procedure":[94,109],"Lagrange's":[96],"Reduced":[97],"Gradient":[98],"Algorithm":[99],"applied.":[102],"Recently":[103],"it":[104],"was":[105],"found":[106],"that":[107],"seriously":[110],"accelerated":[113],"if":[114],"computation":[116],"Lagrange":[119],"multipliers":[120],"belonging":[121],"individual":[124],"becomes":[127],"unnecessary.":[128],"In":[129,144],"a":[132,172,177],"single":[133],"vector":[134],"must":[135],"reduced":[137],"with":[138],"components":[140],"another":[142],"one.":[143],"present":[146],"paper":[147],"method":[149,167],"directly":[151],"applied":[152],"for":[153,176,180],"efficient":[155],"robot":[164,178],"arms.":[165],"exemplified":[169],"designing":[171],"particular":[173],"arm":[179],"specified":[181],"use.":[182]},"counts_by_year":[{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
