{"id":"https://openalex.org/W3174513481","doi":"https://doi.org/10.3233/ica-210660","title":"A modified firefly algorithm for the inverse kinematics solutions of robotic manipulators","display_name":"A modified firefly algorithm for the inverse kinematics solutions of robotic manipulators","publication_year":2021,"publication_date":"2021-06-29","ids":{"openalex":"https://openalex.org/W3174513481","doi":"https://doi.org/10.3233/ica-210660","mag":"3174513481"},"language":"en","primary_location":{"id":"doi:10.3233/ica-210660","is_oa":false,"landing_page_url":"https://doi.org/10.3233/ica-210660","pdf_url":null,"source":{"id":"https://openalex.org/S107631664","display_name":"Integrated Computer-Aided Engineering","issn_l":"1069-2509","issn":["1069-2509","1875-8835"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Integrated Computer-Aided 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/A5060433643","display_name":"Jes\u00fas Hern\u00e1ndez-Barrag\u00e1n","orcid":"https://orcid.org/0000-0001-7518-1668"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jesus Hernandez-Barragan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082402937","display_name":"Carlos L\u00f3pez-Franco","orcid":"https://orcid.org/0000-0001-8122-3799"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Carlos Lopez-Franco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033514957","display_name":"Nancy Arana\u2010Daniel","orcid":"https://orcid.org/0000-0002-8803-9502"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nancy Arana-Daniel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004231492","display_name":"Alma Y. Alan\u00eds","orcid":"https://orcid.org/0000-0001-9600-779X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alma Y. Alanis","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5041136093","display_name":"Adriana L\u00f3pez-Franco","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Adriana Lopez-Franco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.8052,"has_fulltext":false,"cited_by_count":24,"citation_normalized_percentile":{"value":0.84844815,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":99},"biblio":{"volume":"28","issue":"3","first_page":"257","last_page":"275"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9861999750137329,"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/T12907","display_name":"Mechanical Engineering and Vibrations Research","score":0.9840999841690063,"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/firefly-algorithm","display_name":"Firefly algorithm","score":0.8125267624855042},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.739922046661377},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.6586141586303711},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6447997689247131},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.546911358833313},{"id":"https://openalex.org/keywords/revolute-joint","display_name":"Revolute joint","score":0.5408016443252563},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.5000267028808594},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4721876382827759},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.45553019642829895},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4524473249912262},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.4502345025539398},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.42996945977211},{"id":"https://openalex.org/keywords/forward-kinematics","display_name":"Forward kinematics","score":0.4281579852104187},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.4205837845802307},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4178752303123474},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.37991565465927124},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3501703143119812},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3144060969352722},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2917096018791199},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.29152894020080566},{"id":"https://openalex.org/keywords/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.08915442228317261},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.0616992712020874}],"concepts":[{"id":"https://openalex.org/C154982244","wikidata":"https://www.wikidata.org/wiki/Q5451844","display_name":"Firefly algorithm","level":3,"score":0.8125267624855042},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.739922046661377},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.6586141586303711},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6447997689247131},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.546911358833313},{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.5408016443252563},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.5000267028808594},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4721876382827759},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.45553019642829895},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4524473249912262},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.4502345025539398},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.42996945977211},{"id":"https://openalex.org/C160970401","wikidata":"https://www.wikidata.org/wiki/Q1423222","display_name":"Forward kinematics","level":4,"score":0.4281579852104187},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.4205837845802307},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4178752303123474},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.37991565465927124},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3501703143119812},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3144060969352722},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2917096018791199},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.29152894020080566},{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.08915442228317261},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0616992712020874},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.3233/ica-210660","is_oa":false,"landing_page_url":"https://doi.org/10.3233/ica-210660","pdf_url":null,"source":{"id":"https://openalex.org/S107631664","display_name":"Integrated Computer-Aided Engineering","issn_l":"1069-2509","issn":["1069-2509","1875-8835"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310318577","host_organization_name":"IOS Press","host_organization_lineage":["https://openalex.org/P4310318577"],"host_organization_lineage_names":["IOS Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Integrated Computer-Aided Engineering","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.75,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":80,"referenced_works":["https://openalex.org/W5961596","https://openalex.org/W165820693","https://openalex.org/W764501734","https://openalex.org/W1496777766","https://openalex.org/W1523741643","https://openalex.org/W1552022483","https://openalex.org/W1570834090","https://openalex.org/W1651184570","https://openalex.org/W1673310716","https://openalex.org/W1936283025","https://openalex.org/W1966913471","https://openalex.org/W1968130474","https://openalex.org/W2002253901","https://openalex.org/W2004208581","https://openalex.org/W2011271260","https://openalex.org/W2012042503","https://openalex.org/W2017258920","https://openalex.org/W2019484959","https://openalex.org/W2022140811","https://openalex.org/W2023883389","https://openalex.org/W2044587647","https://openalex.org/W2048276781","https://openalex.org/W2054878539","https://openalex.org/W2057752717","https://openalex.org/W2061005234","https://openalex.org/W2062691475","https://openalex.org/W2071269152","https://openalex.org/W2078551005","https://openalex.org/W2096166399","https://openalex.org/W2096555931","https://openalex.org/W2107473204","https://openalex.org/W2113265921","https://openalex.org/W2122821937","https://openalex.org/W2124319381","https://openalex.org/W2133338270","https://openalex.org/W2140151482","https://openalex.org/W2160105713","https://openalex.org/W2166018205","https://openalex.org/W2170436854","https://openalex.org/W2177744032","https://openalex.org/W2188506490","https://openalex.org/W2222496756","https://openalex.org/W2334484203","https://openalex.org/W2335284675","https://openalex.org/W2344098184","https://openalex.org/W2435958658","https://openalex.org/W2524546330","https://openalex.org/W2541406329","https://openalex.org/W2571530646","https://openalex.org/W2604800736","https://openalex.org/W2605363129","https://openalex.org/W2737053265","https://openalex.org/W2759099512","https://openalex.org/W2766069146","https://openalex.org/W2786850658","https://openalex.org/W2790371374","https://openalex.org/W2790859891","https://openalex.org/W2791938427","https://openalex.org/W2794349891","https://openalex.org/W2809752599","https://openalex.org/W2810826459","https://openalex.org/W2889038884","https://openalex.org/W2902524624","https://openalex.org/W2911628555","https://openalex.org/W2918082440","https://openalex.org/W2922859007","https://openalex.org/W2937836759","https://openalex.org/W3006097963","https://openalex.org/W3014805772","https://openalex.org/W3020826177","https://openalex.org/W3023169168","https://openalex.org/W3104313545","https://openalex.org/W4240172577","https://openalex.org/W6631478494","https://openalex.org/W6637131181","https://openalex.org/W6642209859","https://openalex.org/W6688762308","https://openalex.org/W6748291068","https://openalex.org/W6761730404","https://openalex.org/W6776356318"],"related_works":["https://openalex.org/W2053241953","https://openalex.org/W947851733","https://openalex.org/W2159499127","https://openalex.org/W2247474161","https://openalex.org/W2893880535","https://openalex.org/W2411340114","https://openalex.org/W2053129118","https://openalex.org/W4301396968","https://openalex.org/W2153326975","https://openalex.org/W2053228135"],"abstract_inverted_index":{"The":[0,111],"inverse":[1,19,66],"kinematics":[2,20],"of":[3,7,54,108,121,126,129,145,177,184],"robotic":[4,118,138,179],"manipulators":[5,119,139],"consists":[6],"finding":[8],"a":[9,14,22,39,51,162],"joint":[10,74,132],"configuration":[11],"to":[12,35,63,77,155],"reach":[13],"desired":[15],"end-effector":[16,80],"pose.":[17],"Since":[18],"is":[21,61,104],"complex":[23],"non-linear":[24],"problem":[25,107],"with":[26,136],"redundant":[27],"solutions,":[28],"sophisticated":[29],"optimization":[30,60,169],"techniques":[31],"are":[32,153],"often":[33],"required":[34],"solve":[36,64],"this":[37,49,185],"problem;":[38],"possible":[40],"solution":[41],"can":[42,71,114],"be":[43,115],"found":[44],"in":[45,117],"metaheuristic":[46],"algorithms.":[47,170],"In":[48],"work,":[50],"modified":[52,69],"version":[53,70],"the":[55,65,78,83,89,105,141,146,158,182],"firefly":[56,85],"algorithm":[57,86],"for":[58],"multimodal":[59,168],"proposed":[62,90,112,147,159],"kinematics.":[67],"This":[68],"provide":[72],"multiple":[73],"configurations":[75],"leading":[76],"same":[79],"pose,":[81],"improving":[82],"classic":[84],"performance.":[87],"Moreover,":[88],"approach":[91,113],"avoids":[92],"singularities":[93],"because":[94],"it":[95],"does":[96],"not":[97],"require":[98],"any":[99],"Jacobian":[100],"matrix":[101],"inversion,":[102],"which":[103],"main":[106],"conventional":[109],"approaches.":[110],"implemented":[116],"composed":[120],"revolute":[122],"or":[123],"prismatic":[124],"joints":[125],"n":[127],"degrees":[128,176],"freedom":[130,178],"considering":[131],"limits":[133],"constrains.":[134],"Simulations":[135],"different":[137],"show":[140,156],"accuracy":[142],"and":[143],"robustness":[144],"approach.":[148,186],"Additionally,":[149],"non-parametric":[150],"statistical":[151],"tests":[152],"included":[154],"that":[157],"method":[160],"has":[161],"statistically":[163],"significant":[164],"improvement":[165],"over":[166],"other":[167],"Finally,":[171],"real-time":[172],"experiments":[173],"on":[174],"five":[175],"manipulator":[180],"illustrate":[181],"applicability":[183]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":9},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":7},{"year":2022,"cited_by_count":3}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
