{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,7,30]],"date-time":"2025-07-30T14:58:39Z","timestamp":1753887519310,"version":"3.41.2"},"reference-count":44,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T00:00:00Z","timestamp":1564531200000},"content-version":"vor","delay-in-days":211,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["61771193","61803338","61703183"],"award-info":[{"award-number":["61771193","61803338","61703183"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Complexity"],"published-print":{"date-parts":[[2019,1]]},"abstract":"<jats:p>For repeatable motion of redundant mobile manipulators, the flexible base platform and the redundant manipulator have to be returned to the desired initial position simultaneously after completing the given tasks. To remedy deviations between initial position and desired position of each kinematic joint angle, a special kind of repeatable optimization for kinematic energy minimization based on terminal\u2010time Zhang neural network (TTZNN) with finite\u2010time convergence is proposed for inverse kinematics of mobile manipulators. It takes the advantages that each joint of the manipulator is required to return to the desired initial position not considering the initial orientation of itself for realizing repeatable kinematics control. Unlike the existed training methods, such an optimization of kinematic energy scheme based on TTZNN can not only reduce the convergent position error of each joint to zero in finite time, but also improve the convergent precision. Theoretical analysis and verifications show that the proposed optimal kinematic energy scheme accelerates the convergent rate, which is tended to be applied in practical robot kinematics. Simulation results on the manipulator with three mobile wheels substantiate the timeliness and repetitiveness of the proposed optimization scheme.<\/jats:p>","DOI":"10.1155\/2019\/8642027","type":"journal-article","created":{"date-parts":[[2019,7,31]],"date-time":"2019-07-31T23:31:29Z","timestamp":1564615889000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Repeatable Optimization for Kinematic Energy System with Its Mobile Manipulator Application"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3738-0057","authenticated-orcid":false,"given":"Ying","family":"Kong","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ruiyang","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4500-5836","authenticated-orcid":false,"given":"Yunliang","family":"Jiang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaoyun","family":"Xia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2019,7,31]]},"reference":[{"doi-asserted-by":"publisher","key":"e_1_2_10_1_2","DOI":"10.1109\/TSMC.2016.2557227"},{"doi-asserted-by":"publisher","key":"e_1_2_10_2_2","DOI":"10.1007\/s00521-016-2260-5"},{"doi-asserted-by":"publisher","key":"e_1_2_10_3_2","DOI":"10.1155\/2019\/9325364"},{"doi-asserted-by":"publisher","key":"e_1_2_10_4_2","DOI":"10.1109\/TAES.2018.2832998"},{"doi-asserted-by":"publisher","key":"e_1_2_10_5_2","DOI":"10.1016\/j.neucom.2012.06.055"},{"doi-asserted-by":"publisher","key":"e_1_2_10_6_2","DOI":"10.1002\/cplx.21784"},{"doi-asserted-by":"publisher","key":"e_1_2_10_7_2","DOI":"10.1109\/TMECH.2011.2181977"},{"doi-asserted-by":"publisher","key":"e_1_2_10_8_2","DOI":"10.1109\/TCYB.2014.2321390"},{"doi-asserted-by":"publisher","key":"e_1_2_10_9_2","DOI":"10.1016\/j.robot.2009.01.002"},{"doi-asserted-by":"crossref","unstructured":"MaulanaE. MuslimM. A. andZainuriA. Inverse kinematics of a two-wheeled differential drive an autonomous mobile robot Proceedings of the 2014 Electrical Power Electronics Communications Controls and Informatics Seminar (EECCIS) August 2014 Malang Indonesia 93\u201398 https:\/\/doi.org\/10.1109\/EECCIS.2014.7003726.","key":"e_1_2_10_10_2","DOI":"10.1109\/EECCIS.2014.7003726"},{"doi-asserted-by":"publisher","key":"e_1_2_10_11_2","DOI":"10.1109\/TRO.2012.2218991"},{"doi-asserted-by":"publisher","key":"e_1_2_10_12_2","DOI":"10.1007\/s11012-016-0369-3"},{"doi-asserted-by":"publisher","key":"e_1_2_10_13_2","DOI":"10.1109\/TAC.2002.801192"},{"doi-asserted-by":"publisher","key":"e_1_2_10_14_2","DOI":"10.1007\/s10846-014-0048-3"},{"doi-asserted-by":"publisher","key":"e_1_2_10_15_2","DOI":"10.1002\/rnc.4593"},{"doi-asserted-by":"publisher","key":"e_1_2_10_16_2","DOI":"10.1109\/TCYB.2015.2478857"},{"doi-asserted-by":"publisher","key":"e_1_2_10_17_2","DOI":"10.1109\/tsmcb.2008.2009464"},{"doi-asserted-by":"publisher","key":"e_1_2_10_18_2","DOI":"10.1016\/j.jfranklin.2015.03.021"},{"doi-asserted-by":"publisher","key":"e_1_2_10_19_2","DOI":"10.1109\/TNNLS.2013.2287890"},{"doi-asserted-by":"publisher","key":"e_1_2_10_20_2","DOI":"10.1007\/s11071-013-1227-7"},{"doi-asserted-by":"publisher","key":"e_1_2_10_21_2","DOI":"10.1007\/s10846-014-0150-6"},{"doi-asserted-by":"publisher","key":"e_1_2_10_22_2","DOI":"10.1016\/j.neucom.2017.09.083"},{"doi-asserted-by":"publisher","key":"e_1_2_10_23_2","DOI":"10.1109\/tie.2013.2240635"},{"doi-asserted-by":"publisher","key":"e_1_2_10_24_2","DOI":"10.1109\/TNNLS.2017.2665581"},{"doi-asserted-by":"publisher","key":"e_1_2_10_25_2","DOI":"10.1007\/s00521-015-1873-4"},{"doi-asserted-by":"publisher","key":"e_1_2_10_26_2","DOI":"10.1016\/j.camwa.2017.12.011"},{"doi-asserted-by":"publisher","key":"e_1_2_10_27_2","DOI":"10.1109\/TII.2017.2766455"},{"doi-asserted-by":"publisher","key":"e_1_2_10_28_2","DOI":"10.1109\/TNNLS.2015.2464314"},{"doi-asserted-by":"publisher","key":"e_1_2_10_29_2","DOI":"10.1109\/TNNLS.2016.2516565"},{"key":"e_1_2_10_30_2","first-page":"217","article-title":"Cooperative motion generation in a distributed network of redundant robot manipulators with noises","volume":"99","author":"Jin L.","year":"2017","journal-title":"IEEE Transactions on Systems, Man, and Cybernetics: Systems"},{"doi-asserted-by":"publisher","key":"e_1_2_10_31_2","DOI":"10.1109\/tac.2018.2810039"},{"doi-asserted-by":"publisher","key":"e_1_2_10_32_2","DOI":"10.1109\/TCYB.2017.2760883"},{"doi-asserted-by":"publisher","key":"e_1_2_10_33_2","DOI":"10.1049\/iet-cta.2014.0931"},{"doi-asserted-by":"publisher","key":"e_1_2_10_34_2","DOI":"10.1017\/s0263574714000757"},{"doi-asserted-by":"publisher","key":"e_1_2_10_35_2","DOI":"10.1007\/s11071-016-2681-9"},{"doi-asserted-by":"publisher","key":"e_1_2_10_36_2","DOI":"10.1007\/s11063-014-9397-y"},{"doi-asserted-by":"publisher","key":"e_1_2_10_37_2","DOI":"10.1016\/j.neucom.2014.06.018"},{"doi-asserted-by":"publisher","key":"e_1_2_10_38_2","DOI":"10.1016\/j.neunet.2017.11.011"},{"doi-asserted-by":"publisher","key":"e_1_2_10_39_2","DOI":"10.1007\/s11063-012-9241-1"},{"doi-asserted-by":"publisher","key":"e_1_2_10_40_2","DOI":"10.1109\/TSMC.2018.2836968"},{"doi-asserted-by":"publisher","key":"e_1_2_10_41_2","DOI":"10.1016\/j.neucom.2019.01.024"},{"doi-asserted-by":"publisher","key":"e_1_2_10_42_2","DOI":"10.1007\/s11063-013-9306-9"},{"doi-asserted-by":"publisher","key":"e_1_2_10_43_2","DOI":"10.1109\/70.481750"},{"doi-asserted-by":"publisher","key":"e_1_2_10_44_2","DOI":"10.1007\/978-3-642-37518-7"}],"container-title":["Complexity"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2019\/8642027.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/complexity\/2019\/8642027.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1155\/2019\/8642027","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,8,7]],"date-time":"2024-08-07T11:16:04Z","timestamp":1723029364000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1155\/2019\/8642027"}},"subtitle":[],"editor":[{"given":"Chun","family":"Wei","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[2019,1]]},"references-count":44,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2019,1]]}},"alternative-id":["10.1155\/2019\/8642027"],"URL":"https:\/\/doi.org\/10.1155\/2019\/8642027","archive":["Portico"],"relation":{},"ISSN":["1076-2787","1099-0526"],"issn-type":[{"type":"print","value":"1076-2787"},{"type":"electronic","value":"1099-0526"}],"subject":[],"published":{"date-parts":[[2019,1]]},"assertion":[{"value":"2019-05-03","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-07-02","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2019-07-31","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"8642027"}}