{"id":"https://openalex.org/W4405513867","doi":"https://doi.org/10.3390/sym16121667","title":"SK-PSO: A Particle Swarm Optimization Framework with SOM and K-Means for Inverse Kinematics of Manipulators","display_name":"SK-PSO: A Particle Swarm Optimization Framework with SOM and K-Means for Inverse Kinematics of Manipulators","publication_year":2024,"publication_date":"2024-12-17","ids":{"openalex":"https://openalex.org/W4405513867","doi":"https://doi.org/10.3390/sym16121667"},"language":"en","primary_location":{"id":"doi:10.3390/sym16121667","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121667","pdf_url":"https://www.mdpi.com/2073-8994/16/12/1667/pdf?version=1734412732","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://www.mdpi.com/2073-8994/16/12/1667/pdf?version=1734412732","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100394696","display_name":"Fei Liu","orcid":"https://orcid.org/0000-0003-3561-3619"},"institutions":[{"id":"https://openalex.org/I182722699","display_name":"Shenzhen Polytechnic University","ror":"https://ror.org/00d2w9g53","country_code":"CN","type":"education","lineage":["https://openalex.org/I182722699"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Fei Liu","raw_affiliation_strings":["School of Integrated Circuit, Shenzhen Polytechnic University, Shenzhen 518055, China"],"raw_orcid":"https://orcid.org/0000-0003-3561-3619","affiliations":[{"raw_affiliation_string":"School of Integrated Circuit, Shenzhen Polytechnic University, Shenzhen 518055, China","institution_ids":["https://openalex.org/I182722699"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Changqin Gao","orcid":null},"institutions":[{"id":"https://openalex.org/I32574673","display_name":"Shantou University","ror":"https://ror.org/01a099706","country_code":"CN","type":"education","lineage":["https://openalex.org/I32574673"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Changqin Gao","raw_affiliation_strings":["Department of Mechanical Engineering, College of Engineering, Shantou University, Shantou 515063, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Engineering, Shantou University, Shantou 515063, China","institution_ids":["https://openalex.org/I32574673"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066732184","display_name":"Lisha Liu","orcid":"https://orcid.org/0000-0002-3098-7497"},"institutions":[{"id":"https://openalex.org/I182722699","display_name":"Shenzhen Polytechnic University","ror":"https://ror.org/00d2w9g53","country_code":"CN","type":"education","lineage":["https://openalex.org/I182722699"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Lisha Liu","raw_affiliation_strings":["School of Integrated Circuit, Shenzhen Polytechnic University, Shenzhen 518055, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Integrated Circuit, Shenzhen Polytechnic University, Shenzhen 518055, China","institution_ids":["https://openalex.org/I182722699"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5066732184"],"corresponding_institution_ids":["https://openalex.org/I182722699"],"apc_list":{"value":2000,"currency":"CHF","value_usd":2165},"apc_paid":{"value":2000,"currency":"CHF","value_usd":2165},"fwci":1.2002,"has_fulltext":true,"cited_by_count":4,"citation_normalized_percentile":{"value":0.8033792,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":98},"biblio":{"volume":"16","issue":"12","first_page":"1667","last_page":"1667"},"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":0.9925000071525574,"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":0.989799976348877,"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/particle-swarm-optimization","display_name":"Particle swarm optimization","score":0.7455060482025146},{"id":"https://openalex.org/keywords/cluster-analysis","display_name":"Cluster analysis","score":0.7052645087242126},{"id":"https://openalex.org/keywords/curse-of-dimensionality","display_name":"Curse of dimensionality","score":0.6566160917282104},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.529751181602478},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5243016481399536},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47831013798713684},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.44432199001312256},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4392370879650116},{"id":"https://openalex.org/keywords/point","display_name":"Point (geometry)","score":0.4354782998561859},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.43218135833740234},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.4132488965988159},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37825947999954224},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20717820525169373},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10391360521316528},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07336229085922241}],"concepts":[{"id":"https://openalex.org/C85617194","wikidata":"https://www.wikidata.org/wiki/Q2072794","display_name":"Particle swarm optimization","level":2,"score":0.7455060482025146},{"id":"https://openalex.org/C73555534","wikidata":"https://www.wikidata.org/wiki/Q622825","display_name":"Cluster analysis","level":2,"score":0.7052645087242126},{"id":"https://openalex.org/C111030470","wikidata":"https://www.wikidata.org/wiki/Q1430460","display_name":"Curse of dimensionality","level":2,"score":0.6566160917282104},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.529751181602478},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5243016481399536},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47831013798713684},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.44432199001312256},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4392370879650116},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.4354782998561859},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.43218135833740234},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.4132488965988159},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37825947999954224},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20717820525169373},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10391360521316528},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07336229085922241},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.3390/sym16121667","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121667","pdf_url":"https://www.mdpi.com/2073-8994/16/12/1667/pdf?version=1734412732","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:3ca178efcad84c35a2746470b1e8f416","is_oa":false,"landing_page_url":"https://doaj.org/article/3ca178efcad84c35a2746470b1e8f416","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Symmetry, Vol 16, Iss 12, p 1667 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.3390/sym16121667","is_oa":true,"landing_page_url":"https://doi.org/10.3390/sym16121667","pdf_url":"https://www.mdpi.com/2073-8994/16/12/1667/pdf?version=1734412732","source":{"id":"https://openalex.org/S190787756","display_name":"Symmetry","issn_l":"2073-8994","issn":["2073-8994"],"is_oa":true,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310310987","host_organization_name":"Multidisciplinary Digital Publishing Institute","host_organization_lineage":["https://openalex.org/P4310310987"],"host_organization_lineage_names":["Multidisciplinary Digital Publishing Institute"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Symmetry","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320313851","display_name":"Shenzhen Polytechnic","ror":"https://ror.org/00d2w9g53"},{"id":"https://openalex.org/F4320326279","display_name":"Department of Education of Guangdong Province","ror":null}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4405513867.pdf","grobid_xml":"https://content.openalex.org/works/W4405513867.grobid-xml"},"referenced_works_count":38,"referenced_works":["https://openalex.org/W65738273","https://openalex.org/W1973124471","https://openalex.org/W1999165127","https://openalex.org/W2030727116","https://openalex.org/W2152195021","https://openalex.org/W2561025012","https://openalex.org/W2744672791","https://openalex.org/W2759592850","https://openalex.org/W2937836759","https://openalex.org/W2954839131","https://openalex.org/W2954862597","https://openalex.org/W2992048851","https://openalex.org/W2992610297","https://openalex.org/W3010384577","https://openalex.org/W3021075505","https://openalex.org/W3127593411","https://openalex.org/W3133408962","https://openalex.org/W3157913551","https://openalex.org/W3158161056","https://openalex.org/W3175793133","https://openalex.org/W3183364131","https://openalex.org/W3187206933","https://openalex.org/W4220706682","https://openalex.org/W4220896504","https://openalex.org/W4242924418","https://openalex.org/W4280521364","https://openalex.org/W4285274568","https://openalex.org/W4285596863","https://openalex.org/W4323845459","https://openalex.org/W4360619340","https://openalex.org/W4387150510","https://openalex.org/W4389280064","https://openalex.org/W4400037008","https://openalex.org/W4403456495","https://openalex.org/W6742391295","https://openalex.org/W6777045606","https://openalex.org/W6790361334","https://openalex.org/W6838994988"],"related_works":["https://openalex.org/W4296209631","https://openalex.org/W2561617217","https://openalex.org/W2025378473","https://openalex.org/W2607470227","https://openalex.org/W2352472571","https://openalex.org/W2355801475","https://openalex.org/W1253671258","https://openalex.org/W1020620338","https://openalex.org/W4206659427","https://openalex.org/W2898458249"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"a":[3],"particle":[4,93],"swarm":[5,94],"optimizer":[6,18],"that":[7,123,137,142],"integrates":[8],"self-organizing":[9],"maps":[10],"and":[11,74,160],"k-means":[12],"clustering":[13,38,69],"(SK-PSO)":[14],"is":[15,71,85,124,138],"proposed.":[16],"This":[17],"generates":[19],"an":[20,119,133],"asymmetric":[21,134],"Cartesian":[22,42],"space":[23,57,78],"from":[24],"random":[25],"joint":[26,56,77],"configurations":[27],"when":[28],"addressing":[29],"the":[30,41,51,54,63,66,76,82,88,92,100,103,107,115,144,150,153],"inverse":[31],"kinematics":[32],"of":[33,53,102,143],"manipulators,":[34],"followed":[35],"by":[36],"K-means":[37],"applied":[39],"to":[40,49,81,149],"space.":[43],"The":[44,96],"resulting":[45],"clusters":[46],"are":[47],"used":[48],"reduce":[50],"dimensionality":[52],"corresponding":[55],"using":[58],"Self-Organizing":[59],"Maps":[60],"(SOM).":[61],"During":[62],"solving":[64,135],"process,":[65],"target":[67,83],"point\u2019s":[68],"region":[70],"determined":[72],"first,":[73],"then":[75],"point":[79,84],"closest":[80],"selected":[86],"as":[87],"initial":[89],"population":[90],"for":[91],"algorithm.":[95,105],"simulation":[97],"results":[98],"demonstrate":[99],"effectiveness":[101],"SK-PSO":[104,117,154],"Given":[106],"inherent":[108],"asymmetry":[109],"among":[110],"different":[111],"algorithms":[112],"in":[113],"handling":[114],"problem,":[116],"achieves":[118],"average":[120],"fitness":[121],"value":[122],"0.02\u20130.62":[125],"times":[126,141],"better":[127],"than":[128],"five":[129],"other":[130,145,151],"algorithms,":[131,152],"with":[132],"time":[136],"only":[139],"0.03\u20130.34":[140],"algorithms.":[146],"Therefore,":[147],"compared":[148],"algorithm":[155],"offers":[156],"high":[157],"accuracy,":[158],"speed,":[159],"precision.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":4}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}
