{"id":"https://openalex.org/W4417361368","doi":"https://doi.org/10.1631/fitee.2500254","title":"Physics-informed neural networks for the prediction of robot dynamics considering motor and external force couplings","display_name":"Physics-informed neural networks for the prediction of robot dynamics considering motor and external force couplings","publication_year":2025,"publication_date":"2025-12-01","ids":{"openalex":"https://openalex.org/W4417361368","doi":"https://doi.org/10.1631/fitee.2500254"},"language":"en","primary_location":{"id":"doi:10.1631/fitee.2500254","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.2500254","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","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/A5102473701","display_name":"Fengyu Sun","orcid":"https://orcid.org/0009-0004-9992-6889"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fengyu Sun","raw_affiliation_strings":["College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China"],"raw_orcid":"https://orcid.org/0009-0004-9992-6889","affiliations":[{"raw_affiliation_string":"College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018637345","display_name":"Shuangshuang Wu","orcid":"https://orcid.org/0000-0001-9992-9554"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuangshuang Wu","raw_affiliation_strings":["College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060546550","display_name":"Zhiming Li","orcid":"https://orcid.org/0009-0008-9873-2184"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhiming Li","raw_affiliation_strings":["College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5120815998","display_name":"Peilin Xiong","orcid":null},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Peilin Xiong","raw_affiliation_strings":["College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China","institution_ids":["https://openalex.org/I78675632"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5045361189","display_name":"Wenbai Chen","orcid":"https://orcid.org/0000-0001-7683-2776"},"institutions":[{"id":"https://openalex.org/I78675632","display_name":"Beijing Information Science & Technology University","ror":"https://ror.org/04xnqep60","country_code":"CN","type":"education","lineage":["https://openalex.org/I78675632"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Wenbai Chen","raw_affiliation_strings":["College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China"],"raw_orcid":"https://orcid.org/0000-0001-7683-2776","affiliations":[{"raw_affiliation_string":"College of Automation, Beijing Information Science and Technology University, Beijing, 100192, China","institution_ids":["https://openalex.org/I78675632"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5045361189"],"corresponding_institution_ids":["https://openalex.org/I78675632"],"apc_list":null,"apc_paid":null,"fwci":1.9228,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.88326191,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":98,"max":99},"biblio":{"volume":"26","issue":"12","first_page":"2604","last_page":"2622"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.2759999930858612,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11206","display_name":"Model Reduction and Neural Networks","score":0.2759999930858612,"subfield":{"id":"https://openalex.org/subfields/3109","display_name":"Statistical and Nonlinear Physics"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.23690000176429749,"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":0.16750000417232513,"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/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8109999895095825},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7559999823570251},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.7085000276565552},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6927000284194946},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5541999936103821},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5232999920845032},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.462799996137619},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4196000099182129}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8109999895095825},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7559999823570251},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.7085000276565552},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6927000284194946},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6123999953269958},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5541999936103821},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5232999920845032},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.48510000109672546},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.462799996137619},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4196000099182129},{"id":"https://openalex.org/C145912823","wikidata":"https://www.wikidata.org/wiki/Q113558","display_name":"Dynamics (music)","level":2,"score":0.4129999876022339},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4120999872684479},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.3601999878883362},{"id":"https://openalex.org/C2776126113","wikidata":"https://www.wikidata.org/wiki/Q1128980","display_name":"Industrial robot","level":3,"score":0.3481999933719635},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3425999879837036},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3310999870300293},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3192000091075897},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3043999969959259},{"id":"https://openalex.org/C106487976","wikidata":"https://www.wikidata.org/wiki/Q685816","display_name":"Matrix (chemical analysis)","level":2,"score":0.2897999882698059},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.28459998965263367},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.28189998865127563},{"id":"https://openalex.org/C55037315","wikidata":"https://www.wikidata.org/wiki/Q5421151","display_name":"Experimental data","level":2,"score":0.2768000066280365},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.26910001039505005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2621999979019165}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1631/fitee.2500254","is_oa":false,"landing_page_url":"https://doi.org/10.1631/fitee.2500254","pdf_url":null,"source":{"id":"https://openalex.org/S4210189857","display_name":"Frontiers of Information Technology & Electronic Engineering","issn_l":"2095-9184","issn":["2095-9184","2095-9230"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers of Information Technology &amp; Electronic Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W141712163","https://openalex.org/W2034013085","https://openalex.org/W2103197568","https://openalex.org/W2112474089","https://openalex.org/W2130440600","https://openalex.org/W2169015737","https://openalex.org/W3029817982","https://openalex.org/W3204169784","https://openalex.org/W4200530518","https://openalex.org/W4210673880","https://openalex.org/W4386829988","https://openalex.org/W4388214341","https://openalex.org/W4392133005","https://openalex.org/W4392938884","https://openalex.org/W4392979569","https://openalex.org/W4394812058","https://openalex.org/W4396595901","https://openalex.org/W4398172919","https://openalex.org/W4400644035","https://openalex.org/W4401414995","https://openalex.org/W4401642963","https://openalex.org/W4402319960","https://openalex.org/W4403635851","https://openalex.org/W4404491707","https://openalex.org/W4405219946","https://openalex.org/W4411049712"],"related_works":[],"abstract_inverted_index":{"In":[0],"recent":[1],"years,":[2],"physics-informed":[3],"neural":[4],"networks":[5],"(PINNs)":[6],"have":[7],"shown":[8],"remarkable":[9],"potential":[10],"in":[11,43,48,179],"modeling":[12,40,198],"conservative":[13],"systems":[14],"of":[15,25,140],"rigid-body":[16],"dynamics.":[17],"However,":[18],"when":[19],"applied":[20],"to":[21,103,117,154],"practical":[22],"interaction":[23,50],"tasks":[24],"manipulators":[26,170],"(e.g.,":[27],"part":[28],"assembly":[29],"and":[30,58,90,114,131,162,202,218],"medical":[31],"operations),":[32],"existing":[33],"PINN":[34],"frameworks":[35],"lack":[36],"effective":[37],"external":[38,91,105,181],"force":[39,92,182],"mechanisms,":[41],"resulting":[42],"significantly":[44],"degraded":[45],"prediction":[46],"accuracy":[47,199],"dynamic":[49],"scenarios.":[51],"Additionally,":[52],"because":[53],"industrial":[54],"robots":[55],"(including":[56],"UR5":[57],"UR10e":[59],"robots)":[60],"are":[61,101],"generally":[62],"not":[63],"equipped":[64],"with":[65,190],"joint":[66,115,186,212],"torque":[67,177,187],"sensors,":[68],"obtaining":[69],"precise":[70],"dynamics":[71,89],"training":[72],"data":[73],"remains":[74],"challenging.":[75],"To":[76],"address":[77],"these":[78],"issues,":[79],"this":[80],"study":[81],"proposes":[82],"two":[83,95,168],"enhanced":[84],"PINNs":[85],"that":[86,172],"integrate":[87],"motor":[88,163],"modeling.":[93],"First,":[94],"data-driven":[96],"Jacobian":[97,120,135],"matrix":[98,136],"estimation":[99,178],"methods":[100],"introduced":[102],"incorporate":[104],"forces:":[106],"one":[107],"learns":[108,126],"the":[109,119,123,127,134,141,193],"mapping":[110,147],"between":[111,158],"end-effector":[112],"velocity":[113,116],"approximate":[118],"matrix,":[121],"while":[122,210],"other":[124],"first":[125],"system\u2019s":[128],"kinematic":[129],"behavior":[130],"then":[132],"derives":[133],"through":[137],"analytical":[138],"differentiation":[139],"forward":[142],"kinematics":[143],"model.":[144],"Second,":[145],"current-to-torque":[146],"is":[148],"embedded":[149],"as":[150],"physical":[151],"prior":[152],"knowledge":[153],"establish":[155],"direct":[156],"correlations":[157],"system":[159],"motion":[160],"states":[161],"currents.":[164],"Experimental":[165],"results":[166],"on":[167,204],"different":[169],"demonstrate":[171],"both":[173],"models":[174,195],"achieve":[175],"high-precision":[176],"complex":[180,208],"scenarios":[183],"without":[184],"requiring":[185],"sensors.":[188],"Compared":[189],"state-of-the-art":[191],"methods,":[192],"proposed":[194],"improve":[196],"overall":[197],"by":[200,216],"31.12%":[201],"37.07%":[203],"average":[205],"across":[206],"various":[207],"scenarios,":[209],"reducing":[211],"trajectory":[213],"tracking":[214],"errors":[215],"40.31%":[217],"51.79%,":[219],"respectively.":[220]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2026-06-16T09:24:06.705377","created_date":"2025-12-16T00:00:00"}
