{"id":"https://openalex.org/W4401711035","doi":"https://doi.org/10.3389/fnbot.2024.1451924","title":"Recurrent neural network for trajectory tracking control of manipulator with unknown mass matrix","display_name":"Recurrent neural network for trajectory tracking control of manipulator with unknown mass matrix","publication_year":2024,"publication_date":"2024-08-19","ids":{"openalex":"https://openalex.org/W4401711035","doi":"https://doi.org/10.3389/fnbot.2024.1451924","pmid":"https://pubmed.ncbi.nlm.nih.gov/39224905"},"language":"en","primary_location":{"id":"doi:10.3389/fnbot.2024.1451924","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1451924","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1451924/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj","pubmed"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1451924/pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100774276","display_name":"Jian Li","orcid":"https://orcid.org/0000-0002-3522-4886"},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jian Li","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008564177","display_name":"Junming Su","orcid":null},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junming Su","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061502729","display_name":"W. Yu","orcid":"https://orcid.org/0000-0003-0457-2869"},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weilin Yu","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091137470","display_name":"Xuping Mao","orcid":"https://orcid.org/0009-0005-3615-3062"},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xuping Mao","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052431471","display_name":"Zipeng Liu","orcid":"https://orcid.org/0000-0003-0791-2566"},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zipeng Liu","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101443469","display_name":"Haitao Fu","orcid":"https://orcid.org/0000-0001-9673-6845"},"institutions":[{"id":"https://openalex.org/I4210152006","display_name":"Jilin Agricultural University","ror":"https://ror.org/05dmhhd41","country_code":"CN","type":"education","lineage":["https://openalex.org/I4210152006"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Haitao Fu","raw_affiliation_strings":["College of Information Technology, Jilin Agricultural University, Changchun, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"College of Information Technology, Jilin Agricultural University, Changchun, China","institution_ids":["https://openalex.org/I4210152006"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101443469"],"corresponding_institution_ids":["https://openalex.org/I4210152006"],"apc_list":{"value":2950,"currency":"USD","value_usd":2950},"apc_paid":{"value":2950,"currency":"USD","value_usd":2950},"fwci":1.5002,"has_fulltext":true,"cited_by_count":5,"citation_normalized_percentile":{"value":0.824448,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"18","issue":null,"first_page":"1451924","last_page":"1451924"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9995999932289124,"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":0.9995999932289124,"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":0.9984999895095825,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9936000108718872,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/computer-science","display_name":"Computer science","score":0.7913413643836975},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7912838459014893},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.7686063051223755},{"id":"https://openalex.org/keywords/recurrent-neural-network","display_name":"Recurrent neural network","score":0.7140370011329651},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6502397656440735},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5622243881225586},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.5395604372024536},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5325645208358765},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5068567395210266},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.46459054946899414},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.43623924255371094},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4178745150566101},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.34491801261901855},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.34366822242736816},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.25805675983428955},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.15358957648277283},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.0970299243927002},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09339311718940735}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7913413643836975},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7912838459014893},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.7686063051223755},{"id":"https://openalex.org/C147168706","wikidata":"https://www.wikidata.org/wiki/Q1457734","display_name":"Recurrent neural network","level":3,"score":0.7140370011329651},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6502397656440735},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5622243881225586},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.5395604372024536},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5325645208358765},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5068567395210266},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.46459054946899414},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.43623924255371094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4178745150566101},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.34491801261901855},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.34366822242736816},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.25805675983428955},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.15358957648277283},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.0970299243927002},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09339311718940735},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","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/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"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/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.3389/fnbot.2024.1451924","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1451924","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1451924/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},{"id":"pmid:39224905","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/39224905","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in neurorobotics","raw_type":null},{"id":"pmh:oai:pubmedcentral.nih.gov:11366699","is_oa":true,"landing_page_url":"https://www.ncbi.nlm.nih.gov/pmc/articles/11366699","pdf_url":"https://pmc.ncbi.nlm.nih.gov/articles/PMC11366699/pdf/fnbot-18-1451924.pdf","source":{"id":"https://openalex.org/S2764455111","display_name":"PubMed Central","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Front Neurorobot","raw_type":"Text"},{"id":"pmh:oai:doaj.org/article:2b2ada2e9e2d41e4a703b493f26f4f9c","is_oa":true,"landing_page_url":"https://doaj.org/article/2b2ada2e9e2d41e4a703b493f26f4f9c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Frontiers in Neurorobotics, Vol 18 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3389/fnbot.2024.1451924","is_oa":true,"landing_page_url":"https://doi.org/10.3389/fnbot.2024.1451924","pdf_url":"https://www.frontiersin.org/journals/neurorobotics/articles/10.3389/fnbot.2024.1451924/pdf","source":{"id":"https://openalex.org/S115606517","display_name":"Frontiers in Neurorobotics","issn_l":"1662-5218","issn":["1662-5218"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310320527","host_organization_name":"Frontiers Media","host_organization_lineage":["https://openalex.org/P4310320527"],"host_organization_lineage_names":["Frontiers Media"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Frontiers in Neurorobotics","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322174","display_name":"People's Government of Jilin Province","ror":"https://ror.org/02fzqav45"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4401711035.pdf","grobid_xml":"https://content.openalex.org/works/W4401711035.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W2390401404","https://openalex.org/W2753056613","https://openalex.org/W2762047082","https://openalex.org/W2887191391","https://openalex.org/W3049395106","https://openalex.org/W3091901463","https://openalex.org/W3113585697","https://openalex.org/W3180197665","https://openalex.org/W3198045838","https://openalex.org/W4200357095","https://openalex.org/W4205579390","https://openalex.org/W4226499475","https://openalex.org/W4282569662","https://openalex.org/W4285171379","https://openalex.org/W4293827779","https://openalex.org/W4301832133","https://openalex.org/W4316039491","https://openalex.org/W4318953232","https://openalex.org/W4365790227","https://openalex.org/W4366548450","https://openalex.org/W4366683253","https://openalex.org/W4376456863","https://openalex.org/W4382657913","https://openalex.org/W4385252301","https://openalex.org/W4386702990","https://openalex.org/W4386824915","https://openalex.org/W4388838075","https://openalex.org/W4389474155","https://openalex.org/W4389762816","https://openalex.org/W4391147904","https://openalex.org/W4391164060","https://openalex.org/W4391164414","https://openalex.org/W4391876898","https://openalex.org/W4393014211","https://openalex.org/W4396712995","https://openalex.org/W4396943694","https://openalex.org/W4399568545","https://openalex.org/W4400905649"],"related_works":["https://openalex.org/W2525438122","https://openalex.org/W4298287631","https://openalex.org/W2953061907","https://openalex.org/W1847088711","https://openalex.org/W4214678870","https://openalex.org/W2222614663","https://openalex.org/W2973099332","https://openalex.org/W4211192751","https://openalex.org/W3105505778","https://openalex.org/W2769181463"],"abstract_inverted_index":{"Real-world":[0],"robotic":[1],"operations":[2],"often":[3],"face":[4],"uncertainties":[5,93],"that":[6],"can":[7],"impede":[8],"accurate":[9],"control":[10,106],"of":[11,108,127],"manipulators.":[12,43],"This":[13,85],"study":[14],"proposes":[15],"a":[16,46,58,81,115],"recurrent":[17],"neural":[18],"network":[19],"(RNN)":[20],"combining":[21],"kinematic":[22,47],"and":[23,80,94,105,120,125],"dynamic":[24,78],"models":[25],"to":[26,51,74,91],"address":[27],"this":[28],"issue.":[29],"Assuming":[30],"an":[31],"unknown":[32],"mass":[33,82],"matrix,":[34],"the":[35,53,67,70,76,88,103,109,123,128],"proposed":[36,73,129],"method":[37],"enables":[38],"effective":[39],"trajectory":[40,97],"tracking":[41,98],"for":[42,57],"In":[44],"detail,":[45],"controller":[48],"is":[49,72],"designed":[50],"determine":[52],"desired":[54],"joint":[55],"acceleration":[56],"given":[59],"task":[60],"with":[61,66],"error":[62],"feedback.":[63],"Subsequently,":[64],"integrated":[65],"kinematics":[68],"controller,":[69],"RNN":[71],"combine":[75],"robot's":[77],"model":[79],"matrix":[83],"estimator.":[84],"integration":[86],"allows":[87],"manipulator":[89],"system":[90],"handle":[92],"synchronously":[95],"achieve":[96],"effectively.":[99],"Theoretical":[100],"analysis":[101],"demonstrates":[102],"learning":[104],"capabilities":[107],"RNN.":[110],"Simulative":[111],"experiments":[112],"conducted":[113],"on":[114],"Franka":[116],"Emika":[117],"Panda":[118],"manipulator,":[119],"comparisons":[121],"validate":[122],"effectiveness":[124],"superiority":[126],"method.":[130]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
