{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,27]],"date-time":"2025-10-27T20:36:18Z","timestamp":1761597378317,"version":"3.37.3"},"reference-count":20,"publisher":"Wiley","license":[{"start":{"date-parts":[[2012,10,3]],"date-time":"2012-10-03T00:00:00Z","timestamp":1349222400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Advances in Artificial Intelligence"],"published-print":{"date-parts":[[2012,10,3]]},"abstract":"<jats:p>This paper is devoted to solve the positioning control problem of underactuated robot manipulator. Artificial Neural Networks Inversion  technique was used where a network represents the forward dynamics of the system trained to learn the position of the passive joint over the working space of a 2R underactuated  robot. The obtained weights from the learning process were fixed, and the network was inverted to represent the inverse dynamics of the system and then used in the estimation phase to estimate the position of the passive joint for a new set of data the network was not previously trained for. Data used in this research are recorded experimentally from sensors fixed on the robot joints in order to overcome whichever uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in gear trains. Results were verified experimentally to show the success of the proposed control strategy.<\/jats:p>","DOI":"10.1155\/2012\/927905","type":"journal-article","created":{"date-parts":[[2012,10,3]],"date-time":"2012-10-03T21:07:14Z","timestamp":1349298434000},"page":"1-6","source":"Crossref","is-referenced-by-count":8,"title":["Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique"],"prefix":"10.1155","volume":"2012","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3882-6521","authenticated-orcid":true,"given":"Ali T.","family":"Hasan","sequence":"first","affiliation":[{"name":"Department of Scholarships and Cultural Relations, Ministry of Higher Education and Scientific Research, Al-Nidhal Street, Baghdad, Iraq"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","reference":[{"issue":"4","key":"1","doi-asserted-by":"crossref","first-page":"607","DOI":"10.1016\/S0020-7462(97)00035-8","volume":"33","year":"1998","journal-title":"International Journal of Non-Linear Mechanics"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022068011"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/70.782028"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.1109\/37.257888"},{"journal-title":"International Journal of Robust and Nonlinear Control","first-page":"181","year":"2000","key":"10"},{"issue":"5-6","key":"11","doi-asserted-by":"crossref","first-page":"575","DOI":"10.1177\/027836402321261940","volume":"21","year":"2002","journal-title":"International Journal of Robotics Research"},{"key":"12","doi-asserted-by":"publisher","DOI":"10.1109\/70.86082"},{"key":"13","doi-asserted-by":"publisher","DOI":"10.1109\/70.258049"},{"key":"16","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.10.013"},{"key":"17","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE655"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2009.06.006"},{"key":"19","doi-asserted-by":"publisher","DOI":"10.1109\/87.974334"},{"key":"20","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE419"},{"key":"21","doi-asserted-by":"publisher","DOI":"10.1016\/S1364-0321(01)00006-5"},{"key":"22","doi-asserted-by":"publisher","DOI":"10.1016\/j.advengsoft.2005.09.010"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1016\/S0952-1976(99)00050-0"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1016\/j.engappai.2005.01.004"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1243\/09596518JSCE321"},{"issue":"4","key":"27","doi-asserted-by":"crossref","first-page":"227","DOI":"10.1016\/S0921-8890(99)00100-1","volume":"31","year":"2000","journal-title":"Journal of Robotics and Autonomous Systems"},{"year":"1987","key":"29"}],"container-title":["Advances in Artificial Intelligence"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/archive\/2012\/927905.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/archive\/2012\/927905.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/archive\/2012\/927905.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2020,12,10]],"date-time":"2020-12-10T05:26:53Z","timestamp":1607578013000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.hindawi.com\/journals\/aai\/2012\/927905\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,10,3]]},"references-count":20,"alternative-id":["927905","927905"],"URL":"https:\/\/doi.org\/10.1155\/2012\/927905","relation":{},"ISSN":["1687-7470","1687-7489"],"issn-type":[{"type":"print","value":"1687-7470"},{"type":"electronic","value":"1687-7489"}],"subject":[],"published":{"date-parts":[[2012,10,3]]}}}