{"id":"https://openalex.org/W2114326186","doi":"https://doi.org/10.1155/2012/927905","title":"Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique","display_name":"Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique","publication_year":2012,"publication_date":"2012-10-03","ids":{"openalex":"https://openalex.org/W2114326186","doi":"https://doi.org/10.1155/2012/927905","mag":"2114326186"},"language":"en","primary_location":{"id":"doi:10.1155/2012/927905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2012/927905","pdf_url":"https://downloads.hindawi.com/archive/2012/927905.pdf","source":{"id":"https://openalex.org/S2788495","display_name":"Advances in Artificial Intelligence","issn_l":"1687-7470","issn":["1687-7470","1687-7489"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Artificial Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://downloads.hindawi.com/archive/2012/927905.pdf","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5085484123","display_name":"Ali T. Hasan","orcid":"https://orcid.org/0000-0003-3882-6521"},"institutions":[{"id":"https://openalex.org/I4210128557","display_name":"Ministry of Higher Education and Scientific Research","ror":"https://ror.org/03m5ehy13","country_code":"IQ","type":"government","lineage":["https://openalex.org/I4210128557"]}],"countries":["IQ"],"is_corresponding":true,"raw_author_name":"Ali T. Hasan","raw_affiliation_strings":["Department of Scholarships and Cultural Relations, Ministry of Higher Education and Scientific Research, Al-Nidhal Street, Baghdad, Iraq"],"raw_orcid":"https://orcid.org/0000-0003-3882-6521","affiliations":[{"raw_affiliation_string":"Department of Scholarships and Cultural Relations, Ministry of Higher Education and Scientific Research, Al-Nidhal Street, Baghdad, Iraq","institution_ids":["https://openalex.org/I4210128557"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5085484123"],"corresponding_institution_ids":["https://openalex.org/I4210128557"],"apc_list":null,"apc_paid":null,"fwci":1.705,"has_fulltext":true,"cited_by_count":14,"citation_normalized_percentile":{"value":0.87358633,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":"2012","issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.998199999332428,"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":0.998199999332428,"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/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9980000257492065,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/computer-science","display_name":"Computer science","score":0.7336076498031616},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6945993304252625},{"id":"https://openalex.org/keywords/underactuation","display_name":"Underactuation","score":0.6932904720306396},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6381387710571289},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.5641718506813049},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.526057243347168},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.4906255304813385},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4905166029930115},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.42344290018081665},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.32884764671325684},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21912726759910583},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11001062393188477}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7336076498031616},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6945993304252625},{"id":"https://openalex.org/C88337583","wikidata":"https://www.wikidata.org/wiki/Q7883433","display_name":"Underactuation","level":3,"score":0.6932904720306396},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6381387710571289},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.5641718506813049},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.526057243347168},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.4906255304813385},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4905166029930115},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.42344290018081665},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.32884764671325684},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21912726759910583},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11001062393188477},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1155/2012/927905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2012/927905","pdf_url":"https://downloads.hindawi.com/archive/2012/927905.pdf","source":{"id":"https://openalex.org/S2788495","display_name":"Advances in Artificial Intelligence","issn_l":"1687-7470","issn":["1687-7470","1687-7489"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Artificial Intelligence","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.1155/2012/927905","is_oa":true,"landing_page_url":"https://doi.org/10.1155/2012/927905","pdf_url":"https://downloads.hindawi.com/archive/2012/927905.pdf","source":{"id":"https://openalex.org/S2788495","display_name":"Advances in Artificial Intelligence","issn_l":"1687-7470","issn":["1687-7470","1687-7489"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319869","host_organization_name":"Hindawi Publishing Corporation","host_organization_lineage":["https://openalex.org/P4310319869"],"host_organization_lineage_names":["Hindawi Publishing Corporation"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advances in Artificial Intelligence","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2114326186.pdf","grobid_xml":"https://content.openalex.org/works/W2114326186.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1537482913","https://openalex.org/W1554861227","https://openalex.org/W1587938649","https://openalex.org/W1902370775","https://openalex.org/W1960096875","https://openalex.org/W1974239911","https://openalex.org/W1978942904","https://openalex.org/W2000707183","https://openalex.org/W2029189871","https://openalex.org/W2039692768","https://openalex.org/W2041079378","https://openalex.org/W2048222901","https://openalex.org/W2049741578","https://openalex.org/W2056157338","https://openalex.org/W2078293054","https://openalex.org/W2088082871","https://openalex.org/W2088874310","https://openalex.org/W2100633819","https://openalex.org/W2108314056","https://openalex.org/W2110060033","https://openalex.org/W2110073923","https://openalex.org/W2123217485","https://openalex.org/W2127055892","https://openalex.org/W2136310975","https://openalex.org/W2139063188","https://openalex.org/W2144728548","https://openalex.org/W2150270730","https://openalex.org/W2166690549","https://openalex.org/W2168164612"],"related_works":["https://openalex.org/W587013945","https://openalex.org/W4288862394","https://openalex.org/W1485310626","https://openalex.org/W4292915238","https://openalex.org/W4285553839","https://openalex.org/W4321093571","https://openalex.org/W3011477119","https://openalex.org/W2371440471","https://openalex.org/W2075135955","https://openalex.org/W3135136999"],"abstract_inverted_index":{"This":[0],"paper":[1],"is":[2],"devoted":[3],"to":[4,32,63,78,116,141],"solve":[5],"the":[6,25,29,34,37,41,53,59,65,69,75,80,83,92,111,122,143,146],"positioning":[7],"control":[8,148],"problem":[9],"of":[10,28,36,44,68,82,90,145],"underactuated":[11,47],"robot":[12,112],"manipulator.":[13],"Artificial":[14],"Neural":[15],"Networks":[16],"Inversion":[17],"technique":[18],"was":[19,61,94],"used":[20,73,100],"where":[21],"a":[22,45,87],"network":[23,60,93],"represents":[24],"forward":[26],"dynamics":[27,67],"system":[30,70],"trained":[31,97],"learn":[33],"position":[35,81],"passive":[38,84],"joint":[39,85],"over":[40],"working":[42],"space":[43],"2R":[46],"robot.":[48],"The":[49],"obtained":[50],"weights":[51],"from":[52,107],"learning":[54],"process":[55],"were":[56,138],"fixed,":[57],"and":[58,71,132],"inverted":[62],"represent":[64],"inverse":[66],"then":[72],"in":[74,101,114,121,134],"estimation":[76],"phase":[77],"estimate":[79],"for":[86],"new":[88],"set":[89],"data":[91],"not":[95],"previously":[96],"for.":[98],"Data":[99],"this":[102],"research":[103],"are":[104],"recorded":[105],"experimentally":[106,140],"sensors":[108],"fixed":[109],"on":[110],"joints":[113],"order":[115],"overcome":[117],"whichever":[118],"uncertainties":[119],"presence":[120],"real":[123],"world":[124],"such":[125],"as":[126],"ill-defined":[127],"linkage":[128],"parameters,":[129],"links":[130],"flexibility,":[131],"backlashes":[133],"gear":[135],"trains.":[136],"Results":[137],"verified":[139],"show":[142],"success":[144],"proposed":[147],"strategy.":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":3},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}