{"id":"https://openalex.org/W2081249723","doi":"https://doi.org/10.1163/156855392x00277","title":"Practical inverse kinematics of a kinematically redundant robot using a neural network","display_name":"Practical inverse kinematics of a kinematically redundant robot using a neural network","publication_year":1991,"publication_date":"1991-01-01","ids":{"openalex":"https://openalex.org/W2081249723","doi":"https://doi.org/10.1163/156855392x00277","mag":"2081249723"},"language":"en","primary_location":{"id":"doi:10.1163/156855392x00277","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855392x00277","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/A5049404074","display_name":"Ki-Kap Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Ki-Kap Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-ku, Taejon, 305-701, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-ku, Taejon, 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100561454","display_name":"Yong\u2013San Yoon","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Yong-San Yoon","raw_affiliation_strings":["Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-ku, Taejon, 305-701, Korea"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusung-dong, Yusung-ku, Taejon, 305-701, Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5049404074"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.25180656,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"6","issue":"4","first_page":"431","last_page":"440"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9990000128746033,"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/T11583","display_name":"Advanced Measurement and Metrology Techniques","score":0.9955999851226807,"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/inverse-kinematics","display_name":"Inverse kinematics","score":0.7936232686042786},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.7745472192764282},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7482424974441528},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5575470328330994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5122851133346558},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.497268944978714},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4780502915382385},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4437357783317566},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.4314899146556854},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.4247530996799469},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38066205382347107},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3573276996612549},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3012773394584656},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.15329140424728394},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.11306250095367432}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7936232686042786},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.7745472192764282},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7482424974441528},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5575470328330994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5122851133346558},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.497268944978714},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4780502915382385},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4437357783317566},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.4314899146556854},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.4247530996799469},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38066205382347107},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3573276996612549},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3012773394584656},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.15329140424728394},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.11306250095367432},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","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:10.1163/156855392x00277","is_oa":false,"landing_page_url":"https://doi.org/10.1163/156855392x00277","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":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.8299999833106995}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1541274513","https://openalex.org/W1975464061","https://openalex.org/W2032810872","https://openalex.org/W2039708501","https://openalex.org/W2070133526","https://openalex.org/W2105087206","https://openalex.org/W2114000612","https://openalex.org/W2144230201","https://openalex.org/W2146169138","https://openalex.org/W2151194721","https://openalex.org/W3168095073","https://openalex.org/W3207342693","https://openalex.org/W4300402905","https://openalex.org/W6681863391"],"related_works":["https://openalex.org/W2347988643","https://openalex.org/W2353085265","https://openalex.org/W1971821535","https://openalex.org/W2811382984","https://openalex.org/W2119719871","https://openalex.org/W2375200650","https://openalex.org/W2366276599","https://openalex.org/W4386631294","https://openalex.org/W2357499095","https://openalex.org/W2731862817"],"abstract_inverted_index":{"In":[0,117],"solving":[1],"inverse":[2],"kinematics":[3],"problems,":[4],"traditional":[5,155],"methods":[6],"such":[7],"as":[8],"RMRC":[9],"(resolved":[10],"motion":[11],"rate":[12],"control)":[13],"and":[14,23,55,57,131],"the":[15,59,63,68,76,79,86,98,120,133,152],"IKM":[16],"(inverse":[17],"kinematic":[18],"method)":[19],"are":[20,137],"mostly":[21],"complicated":[22],"time-consuming.":[24],"Using":[25],"a":[26,30,39,50,73,89,110,128],"neural":[27,46,80,99,129],"network,":[28],"however,":[29],"practical":[31],"algorithm":[32],"for":[33,85],"obtaining":[34],"accurate":[35],"joint":[36,107,123,135],"angles":[37,108,136],"in":[38,67],"much":[40],"shorter":[41],"time":[42],"is":[43,83,102,125],"possible.":[44],"The":[45,142],"network":[47,60,81,100,130],"approach":[48],"assumes":[49],"transfer":[51],"function":[52],"between":[53],"inputs":[54],"outputs":[56],"trains":[58],"to":[61,104],"satisfy":[62],"representative":[64],"input-output":[65],"pairs":[66],"least":[69],"squares":[70],"sense.":[71],"First,":[72],"test":[74],"of":[75,78,88,93,109],"appropriateness":[77],"method":[82,101,146],"performed":[84],"case":[87],"planar":[90,111],"two":[91,154],"degrees":[92],"freedom":[94],"(DOF)":[95],"robot.":[96],"Then":[97],"employed":[103],"find":[105],"three":[106],"3-DOF":[112],"robot":[113],"maximizing":[114],"local":[115],"manipulability.":[116],"this":[118,145],"algorithm,":[119],"proximal":[121],"redundant":[122],"angle":[124],"determined":[126,138],"from":[127,139,144,151],"then":[132],"remaining":[134],"analytical":[140],"functions.":[141],"results":[143],"compare":[147],"favourably":[148],"with":[149],"those":[150],"other":[153],"methods.":[156]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}