{"id":"https://openalex.org/W2010182084","doi":"https://doi.org/10.1163/156855308x360578","title":"Bi-criteria Velocity Minimization of Robot Manipulators Using a Linear Variational Inequalities-Based Primal-Dual Neural Network and PUMA560 Example","display_name":"Bi-criteria Velocity Minimization of Robot Manipulators Using a Linear Variational Inequalities-Based Primal-Dual Neural Network and PUMA560 Example","publication_year":2008,"publication_date":"2008-01-01","ids":{"openalex":"https://openalex.org/W2010182084","doi":"https://doi.org/10.1163/156855308x360578","mag":"2010182084"},"language":"en","primary_location":{"id":"doi:10.1163/156855308x360578","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x360578","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","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/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":true,"raw_author_name":"Yunong Zhang","raw_affiliation_strings":["a Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China;, Email: ynzhang@ieee.org","Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China;, Email: ynzhang@ieee.org"],"affiliations":[{"raw_affiliation_string":"a Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China;, Email: ynzhang@ieee.org","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China;, Email: ynzhang@ieee.org","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038278967","display_name":"Binghuang Cai","orcid":"https://orcid.org/0000-0002-0348-0690"},"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":"Binghuang Cai","raw_affiliation_strings":["b Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China"],"affiliations":[{"raw_affiliation_string":"b Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100434028","display_name":"Lei Zhang","orcid":"https://orcid.org/0000-0003-2343-084X"},"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":"Lei Zhang","raw_affiliation_strings":["c School of Software, Sun Yat-Sen University, Guangzhou 510275, China","School of Software, Sun Yat-Sen University, Guangzhou 510275, China"],"affiliations":[{"raw_affiliation_string":"c School of Software, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"School of Software, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002078531","display_name":"Kene Li","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":"Kene Li","raw_affiliation_strings":["d Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China"],"affiliations":[{"raw_affiliation_string":"d Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]},{"raw_affiliation_string":"Department of Electronics and Communication Engineering, Sun Yat-Sen University, Guangzhou 510275, China","institution_ids":["https://openalex.org/I157773358"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5053064477"],"corresponding_institution_ids":["https://openalex.org/I157773358"],"apc_list":null,"apc_paid":null,"fwci":3.1551501,"has_fulltext":false,"cited_by_count":28,"citation_normalized_percentile":{"value":0.91944573,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"22","issue":"13-14","first_page":"1479","last_page":"1496"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998999834060669,"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":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996399998664856,"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/T10188","display_name":"Advanced machining processes and optimization","score":0.993399977684021,"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/solver","display_name":"Solver","score":0.6923840641975403},{"id":"https://openalex.org/keywords/variational-inequality","display_name":"Variational inequality","score":0.6827005743980408},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.625730037689209},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.5735011100769043},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5667858123779297},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5231117606163025},{"id":"https://openalex.org/keywords/discontinuity","display_name":"Discontinuity (linguistics)","score":0.5077654123306274},{"id":"https://openalex.org/keywords/piecewise","display_name":"Piecewise","score":0.5076245069503784},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4450991749763489},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.4266948401927948},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4122452139854431},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4089358448982239},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.33625996112823486},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11443111300468445},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.10997083783149719},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08786985278129578}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.6923840641975403},{"id":"https://openalex.org/C161999928","wikidata":"https://www.wikidata.org/wiki/Q4556320","display_name":"Variational inequality","level":2,"score":0.6827005743980408},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.625730037689209},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.5735011100769043},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5667858123779297},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5231117606163025},{"id":"https://openalex.org/C2777042112","wikidata":"https://www.wikidata.org/wiki/Q5281658","display_name":"Discontinuity (linguistics)","level":2,"score":0.5077654123306274},{"id":"https://openalex.org/C164660894","wikidata":"https://www.wikidata.org/wiki/Q2037833","display_name":"Piecewise","level":2,"score":0.5076245069503784},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4450991749763489},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.4266948401927948},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4122452139854431},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4089358448982239},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.33625996112823486},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11443111300468445},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.10997083783149719},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08786985278129578},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1163/156855308x360578","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855308x360578","pdf_url":null,"source":{"id":"https://openalex.org/S192584203","display_name":"Advanced Robotics","issn_l":"0169-1864","issn":["0169-1864","1568-5535"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320547","host_organization_name":"Taylor & Francis","host_organization_lineage":["https://openalex.org/P4310320547"],"host_organization_lineage_names":["Taylor & Francis"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Advanced Robotics","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320310118","display_name":"National Sun Yat-sen University","ror":"https://ror.org/00mjawt10"},{"id":"https://openalex.org/F4320311521","display_name":"National University of Ireland","ror":"https://ror.org/00shsf120"},{"id":"https://openalex.org/F4320320698","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322170","display_name":"University of Hong Kong","ror":"https://ror.org/02zhqgq86"},{"id":"https://openalex.org/F4320322942","display_name":"Chinese University of Hong Kong","ror":"https://ror.org/00t33hh48"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W161477461","https://openalex.org/W1578671836","https://openalex.org/W1981544582","https://openalex.org/W2024069345","https://openalex.org/W2034514780","https://openalex.org/W2050271375","https://openalex.org/W2051385641","https://openalex.org/W2056212117","https://openalex.org/W2077847045","https://openalex.org/W2101036689","https://openalex.org/W2101482846","https://openalex.org/W2116897603","https://openalex.org/W2117990468","https://openalex.org/W2119514858","https://openalex.org/W2128332575","https://openalex.org/W2129644801","https://openalex.org/W2131242347","https://openalex.org/W2131954954","https://openalex.org/W2145238401","https://openalex.org/W2150743563","https://openalex.org/W2151375450","https://openalex.org/W2153202134","https://openalex.org/W2161515497","https://openalex.org/W2168555065","https://openalex.org/W2323447981","https://openalex.org/W2494384857","https://openalex.org/W4205362845"],"related_works":["https://openalex.org/W1963948095","https://openalex.org/W2966089465","https://openalex.org/W2039343435","https://openalex.org/W4383047020","https://openalex.org/W1608524932","https://openalex.org/W1966658362","https://openalex.org/W436996980","https://openalex.org/W2112118277","https://openalex.org/W2198060433","https://openalex.org/W2367122357"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"to":[3,108],"diminish":[4],"discontinuity":[5],"points":[6],"arising":[7],"in":[8],"the":[9,62,81,110],"infinity-norm":[10],"velocity":[11,16,58],"minimization":[12,17],"scheme,":[13],"a":[14,23,29,40,71,77,89,103,116],"bi-criteria":[15,117],"scheme":[18,43,66,120],"is":[19,86],"presented":[20,63,107],"based":[21,33,101],"on":[22,34,102],"new":[24],"neural":[25,31,84,118],"network":[26,32,85],"solver":[27],"(i.e.,":[28],"primal-dual":[30,83],"linear":[35,92],"variational":[36],"inequalities":[37],"(LVI)).":[38],"Such":[39],"kinematic":[41,64],"control":[42,65,119],"of":[44,114],"redundant":[45,122],"manipulators":[46],"can":[47,67],"incorporate":[48],"joint":[49,54,57],"physical":[50],"limits":[51,55,59],"such":[52,115],"as":[53,70],"and":[56,94,112],"simultaneously.":[60],"Moreover,":[61],"be":[68],"formulated":[69],"quadratic":[72],"programming":[73],"(QP)":[74],"problem.":[75],"As":[76],"real-time":[78],"QP":[79],"solver,":[80],"LVI-based":[82],"established":[87],"with":[88],"simple":[90],"piecewise":[91],"structure":[93],"higher":[95],"computational":[96],"efficiency.":[97],"Computer":[98],"simulations":[99],"performed":[100],"PUMA560":[104],"manipulator":[105],"are":[106],"illustrate":[109],"validity":[111],"advantages":[113],"for":[121],"robots.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":4},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":3}],"updated_date":"2026-02-06T03:54:58.731219","created_date":"2025-10-10T00:00:00"}
