{"id":"https://openalex.org/W4319984990","doi":"https://doi.org/10.3233/faia230066","title":"Quaternion Modeling of a Delta Planar Robot and Training of an Enhanced Multilayer Neural Network to Solve the Inverse Kinematic Problem","display_name":"Quaternion Modeling of a Delta Planar Robot and Training of an Enhanced Multilayer Neural Network to Solve the Inverse Kinematic Problem","publication_year":2023,"publication_date":"2023-02-06","ids":{"openalex":"https://openalex.org/W4319984990","doi":"https://doi.org/10.3233/faia230066"},"language":"en","primary_location":{"id":"doi:10.3233/faia230066","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230066","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230066","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"type":"book-chapter","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230066","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5043939056","display_name":"Eusebio Jim\u00e9nez L\u00f3pez","orcid":"https://orcid.org/0000-0001-6893-3550"},"institutions":[{"id":"https://openalex.org/I4210120585","display_name":"Universidad Tecnol\u00f3gica del Sur de Sonora","ror":"https://ror.org/02f72qf66","country_code":"MX","type":"education","lineage":["https://openalex.org/I4210120585"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Eusebio Jim\u00e9nez-L\u00f3pez","raw_affiliation_strings":["Universidad Tecnol\u00f3gica del Sur de Sonora-ULSA Noroeste, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Tecnol\u00f3gica del Sur de Sonora-ULSA Noroeste, M\u00e9xico","institution_ids":["https://openalex.org/I4210120585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055932961","display_name":"Ren\u00e9e Nicole Espinoza-Miranda","orcid":null},"institutions":[{"id":"https://openalex.org/I120753068","display_name":"Universidad La Salle","ror":"https://ror.org/05sr4vg14","country_code":"BO","type":"education","lineage":["https://openalex.org/I120753068"]}],"countries":["BO"],"is_corresponding":false,"raw_author_name":"Ren\u00e9e Nicole Espinoza-Miranda","raw_affiliation_strings":["Universidad La Salle Noroeste, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad La Salle Noroeste, M\u00e9xico","institution_ids":["https://openalex.org/I120753068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019560693","display_name":"Aldo L\u00f3pez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-9684-9572"},"institutions":[{"id":"https://openalex.org/I4210117848","display_name":"Center for Engineering and Industrial Development","ror":"https://ror.org/03cf87p34","country_code":"MX","type":"facility","lineage":["https://openalex.org/I4210117848","https://openalex.org/I4210163111"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Aldo Augusto L\u00f3pez-Mart\u00ednez","raw_affiliation_strings":["Centro de Ingenier\u00eda y Desarrollo Industrial (CIDESI), M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro de Ingenier\u00eda y Desarrollo Industrial (CIDESI), M\u00e9xico","institution_ids":["https://openalex.org/I4210117848"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082944283","display_name":"Eduardo N\u00fa\u00f1ez P\u00e9rez","orcid":null},"institutions":[{"id":"https://openalex.org/I120753068","display_name":"Universidad La Salle","ror":"https://ror.org/05sr4vg14","country_code":"BO","type":"education","lineage":["https://openalex.org/I120753068"]}],"countries":["BO"],"is_corresponding":false,"raw_author_name":"Eduardo N\u00fa\u00f1ez- P\u00e9rez","raw_affiliation_strings":["Universidad La Salle Noroeste, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad La Salle Noroeste, M\u00e9xico","institution_ids":["https://openalex.org/I120753068"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039001157","display_name":"Pablo Alberto Limon Leyva","orcid":"https://orcid.org/0000-0001-7640-240X"},"institutions":[{"id":"https://openalex.org/I36020712","display_name":"Sonora Institute of Technology","ror":"https://ror.org/01v10fv91","country_code":"MX","type":"education","lineage":["https://openalex.org/I36020712"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Pablo Alberto Lim\u00f3n-Leyva","raw_affiliation_strings":["Instituto Tecnol\u00f3gico de Sonora, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Instituto Tecnol\u00f3gico de Sonora, M\u00e9xico","institution_ids":["https://openalex.org/I36020712"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003219801","display_name":"Kevin Fierro-Ruiz","orcid":null},"institutions":[{"id":"https://openalex.org/I120753068","display_name":"Universidad La Salle","ror":"https://ror.org/05sr4vg14","country_code":"BO","type":"education","lineage":["https://openalex.org/I120753068"]}],"countries":["BO"],"is_corresponding":false,"raw_author_name":"Kevin Fierro-Ruiz","raw_affiliation_strings":["Universidad La Salle Noroeste, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad La Salle Noroeste, M\u00e9xico","institution_ids":["https://openalex.org/I120753068"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5104107121","display_name":"Francisco Cuenca-Jim\u00e9nez","orcid":null},"institutions":[{"id":"https://openalex.org/I8961855","display_name":"Universidad Nacional Aut\u00f3noma de M\u00e9xico","ror":"https://ror.org/01tmp8f25","country_code":"MX","type":"education","lineage":["https://openalex.org/I8961855"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Francisco Cuenca-Jim\u00e9nez","raw_affiliation_strings":["Universidad Nacional Aut\u00f3noma de M\u00e9xico, M\u00e9xico"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Universidad Nacional Aut\u00f3noma de M\u00e9xico, M\u00e9xico","institution_ids":["https://openalex.org/I8961855"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.2598,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.84862758,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9510999917984009,"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":0.9470000267028809,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.7445106506347656},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.6195056438446045},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.6077413558959961},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5653845071792603},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.5338403582572937},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.515250027179718},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5062372088432312},{"id":"https://openalex.org/keywords/polynomial","display_name":"Polynomial","score":0.45552074909210205},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.4397628605365753},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4354257881641388},{"id":"https://openalex.org/keywords/inverse-problem","display_name":"Inverse problem","score":0.4217430055141449},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.41915494203567505},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41822001338005066},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36533552408218384},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.35594671964645386},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3291223645210266},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.22885003685951233},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1773306429386139},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.17585960030555725},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.08670783042907715}],"concepts":[{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.7445106506347656},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.6195056438446045},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.6077413558959961},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5653845071792603},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.5338403582572937},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.515250027179718},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5062372088432312},{"id":"https://openalex.org/C90119067","wikidata":"https://www.wikidata.org/wiki/Q43260","display_name":"Polynomial","level":2,"score":0.45552074909210205},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.4397628605365753},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4354257881641388},{"id":"https://openalex.org/C135252773","wikidata":"https://www.wikidata.org/wiki/Q1567213","display_name":"Inverse problem","level":2,"score":0.4217430055141449},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.41915494203567505},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41822001338005066},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36533552408218384},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35594671964645386},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3291223645210266},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.22885003685951233},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1773306429386139},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.17585960030555725},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.08670783042907715},{"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},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/faia230066","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230066","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230066","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"}],"best_oa_location":{"id":"doi:10.3233/faia230066","is_oa":true,"landing_page_url":"http://dx.doi.org/10.3233/faia230066","pdf_url":"https://ebooks.iospress.nl/pdf/doi/10.3233/FAIA230066","source":{"id":"https://openalex.org/S4210201731","display_name":"Frontiers in artificial intelligence and applications","issn_l":"0922-6389","issn":["0922-6389","1879-8314"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by-nc","license_id":"https://openalex.org/licenses/cc-by-nc","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Artificial Intelligence and Applications","raw_type":"book-chapter"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4319984990.pdf","grobid_xml":"https://content.openalex.org/works/W4319984990.grobid-xml"},"referenced_works_count":8,"referenced_works":["https://openalex.org/W1779930666","https://openalex.org/W3013075150","https://openalex.org/W3119208799","https://openalex.org/W3156862228","https://openalex.org/W3193269297","https://openalex.org/W4221051355","https://openalex.org/W4293568811","https://openalex.org/W4304172358"],"related_works":["https://openalex.org/W2369071212","https://openalex.org/W2117050660","https://openalex.org/W4205287803","https://openalex.org/W2536715680","https://openalex.org/W2124274328","https://openalex.org/W2069940557","https://openalex.org/W3213993864","https://openalex.org/W2971339048","https://openalex.org/W3018002852","https://openalex.org/W2942946007"],"abstract_inverted_index":{"This":[0,92],"paper":[1],"presents":[2],"the":[3,6,12,20,30,54,58,62,66,74,78,82,87,90,110,135,144,148],"modeling":[4],"of":[5,14,22,38,57,65,77,86,89,109,115,147],"inverse":[7,31,63,111,145],"kinematic":[8,32],"problem":[9,146],"related":[10],"to":[11,52,81,96,104,119,142],"motions":[13],"a":[15,68,98],"delta":[16],"planar":[17],"robot":[18],"using":[19,61],"algebra":[21],"unitary":[23],"Quaternions.":[24],"The":[25,47,130],"mathematical":[26,55],"model":[27,56,64,108],"resulting":[28],"from":[29],"analysis":[33],"has":[34],"an":[35,106,121],"associated":[36],"system":[37],"8":[39,44],"nonlinear":[40],"algebraic":[41],"equations":[42],"with":[43],"polynomial":[45],"unknowns.":[46],"Newton-Raphson":[48],"method":[49],"was":[50,70,94],"used":[51,95,141],"solve":[53,143],"robot.":[59,150],"Subsequently,":[60],"robot,":[67],"database":[69,93],"constructed":[71],"that":[72,134],"relates":[73],"Cartesian":[75],"coordinates":[76],"end":[79],"effector":[80],"angles":[83],"and":[84],"axes":[85],"rotations":[88],"links.":[91],"train":[97],"multilayer":[99],"neural":[100],"network":[101,123,138],"in":[102],"order":[103],"have":[105],"equivalent":[107],"problem.":[112],"A":[113],"series":[114],"experiments":[116],"were":[117],"performed":[118],"obtain":[120],"improved":[122,136],"configuration":[124],"by":[125],"varying":[126],"four":[127],"training":[128],"parameters.":[129],"results":[131],"obtained":[132],"show":[133],"trained":[137],"can":[139],"be":[140],"studied":[149]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
