{"id":"https://openalex.org/W1968142411","doi":"https://doi.org/10.1002/rob.4620040406","title":"Adaptive force and position control of manipulators","display_name":"Adaptive force and position control of manipulators","publication_year":1987,"publication_date":"1987-08-01","ids":{"openalex":"https://openalex.org/W1968142411","doi":"https://doi.org/10.1002/rob.4620040406","mag":"1968142411"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040406","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040406","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","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/A5027386319","display_name":"H. Seraji","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"H. Seraji","raw_affiliation_strings":["Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109","Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California, 91109#TAB#"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California, 91109#TAB#","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5027386319"],"corresponding_institution_ids":["https://openalex.org/I122411786","https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":4.3405,"has_fulltext":false,"cited_by_count":32,"citation_normalized_percentile":{"value":0.94347465,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"4","first_page":"551","last_page":"578"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"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/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9959999918937683,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9944000244140625,"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/control-theory","display_name":"Control theory (sociology)","score":0.8567550182342529},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.8447620868682861},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6247705221176147},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.622958779335022},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.616700291633606},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.6076279282569885},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.593021810054779},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.5092414617538452},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4472004771232605},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42508983612060547},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4128509759902954},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.39057958126068115},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2839198112487793},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15096652507781982}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8567550182342529},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.8447620868682861},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6247705221176147},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.622958779335022},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.616700291633606},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.6076279282569885},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.593021810054779},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.5092414617538452},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4472004771232605},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42508983612060547},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4128509759902954},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.39057958126068115},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2839198112487793},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15096652507781982},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C536315585","wikidata":"https://www.wikidata.org/wiki/Q7698332","display_name":"Temperature control","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040406","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040406","pdf_url":null,"source":{"id":"https://openalex.org/S6068926","display_name":"Journal of Robotic Systems","issn_l":"0741-2223","issn":["0741-2223","1097-4563"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320595","host_organization_name":"Wiley","host_organization_lineage":["https://openalex.org/P4310320595"],"host_organization_lineage_names":["Wiley"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Robotic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W570263749","https://openalex.org/W1479885080","https://openalex.org/W1870494665","https://openalex.org/W1985893431","https://openalex.org/W2016958754","https://openalex.org/W2091227786","https://openalex.org/W2097472514","https://openalex.org/W2105015109","https://openalex.org/W2105660272","https://openalex.org/W2113538252","https://openalex.org/W2114231924","https://openalex.org/W2141170102","https://openalex.org/W2142991289","https://openalex.org/W2150367199","https://openalex.org/W2154786710","https://openalex.org/W2166277106","https://openalex.org/W4237362544"],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2002388147","https://openalex.org/W2982600058","https://openalex.org/W3098928304","https://openalex.org/W2394883510","https://openalex.org/W620095722","https://openalex.org/W1991810297","https://openalex.org/W1819950161","https://openalex.org/W2032253950","https://openalex.org/W2101148463"],"abstract_inverted_index":{"Abstract":[0],"The":[1,23,53,80,103,124,142],"article":[2],"presents":[3],"simple":[4],"methods":[5,143],"for":[6,15,86,133,150],"the":[7,19,50,77,92,99,111,119,122,160],"design":[8],"of":[9,28,45,57,72,84,110,118],"adaptive":[10,30,58,104,161],"force":[11,24,39,47,95,152],"and":[12,37,42,60,69,94,131,153],"position":[13,54,74,93,154],"controllers":[14,62,81,105,162],"robot":[16],"manipulators":[17],"within":[18],"hybrid":[20,100],"control":[21,96,101,126,137],"architecture.":[22,102],"controller":[25,55],"is":[26],"composed":[27],"an":[29,34,66],"PID":[31],"feedback":[32,59],"controller,":[33],"auxiliary":[35,67],"signal,":[36,68],"a":[38,147],"feedforward":[40,61],"term,":[41],"achieves":[43],"tracking":[44,71],"desired":[46,73],"setpoints":[48],"in":[49,76,98,135],"constraint":[51],"directions.":[52,79],"consists":[56],"as":[63,65],"well":[64,165],"accomplishes":[70],"trajectories":[75],"free":[78],"are":[82,128,144],"capable":[83],"compensating":[85],"dynamic":[87,113],"cross\u2010couplings":[88],"that":[89,159],"exist":[90],"between":[91],"loops":[97],"do":[106],"not":[107],"require":[108],"knowledge":[109],"complex":[112],"model":[114],"or":[115,121],"parameter":[116],"values":[117],"manipulator":[120,149],"environment.":[123],"proposed":[125],"schemes":[127],"computationally":[129],"fast":[130],"suitable":[132],"implementation":[134],"online":[136],"with":[138],"high":[139],"sampling":[140],"rates.":[141],"applied":[145],"to":[146],"two\u2010link":[148],"simultaneous":[151],"control.":[155],"Simulation":[156],"results":[157],"confirm":[158],"perform":[163],"remarkably":[164],"under":[166],"different":[167],"conditions.":[168]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
