{"id":"https://openalex.org/W2033343963","doi":"https://doi.org/10.1002/rob.4620040506","title":"Adaptive control strategies for cooperative dual\u2010arm manipulators","display_name":"Adaptive control strategies for cooperative dual\u2010arm manipulators","publication_year":1987,"publication_date":"1987-10-01","ids":{"openalex":"https://openalex.org/W2033343963","doi":"https://doi.org/10.1002/rob.4620040506","mag":"2033343963"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620040506","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040506","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"]}],"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 CA 91109","Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive Pasadena, CA 91109"],"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak, Grove Drive, Pasadena CA 91109","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive Pasadena, CA 91109","institution_ids":["https://openalex.org/I1334627681"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":["https://openalex.org/A5027386319"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":1.4468,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.82519891,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":"5","first_page":"653","last_page":"684"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9997000098228455,"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":0.9997000098228455,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9983000159263611,"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":0.9968000054359436,"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":0.8244134783744812},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6397622227668762},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.607090950012207},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.5545917749404907},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5443465709686279},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.5434352159500122},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5413527488708496},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5202654600143433},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4450473487377167},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4361928105354309},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3859928846359253},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3452277183532715},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15813371539115906},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.10040757060050964}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.8244134783744812},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6397622227668762},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.607090950012207},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.5545917749404907},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5443465709686279},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.5434352159500122},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5413527488708496},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5202654600143433},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4450473487377167},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4361928105354309},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3859928846359253},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3452277183532715},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15813371539115906},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.10040757060050964},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620040506","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620040506","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/W62047851","https://openalex.org/W1489224028","https://openalex.org/W1554842388","https://openalex.org/W1583199597","https://openalex.org/W1913694502","https://openalex.org/W1967109052","https://openalex.org/W1968142411","https://openalex.org/W2004366941","https://openalex.org/W2016958754","https://openalex.org/W2040455351","https://openalex.org/W2062972696","https://openalex.org/W2105660272","https://openalex.org/W2113538252","https://openalex.org/W2147245217","https://openalex.org/W2155518492","https://openalex.org/W2222158070","https://openalex.org/W2724172964"],"related_works":["https://openalex.org/W4226385867","https://openalex.org/W4223569781","https://openalex.org/W2966461000","https://openalex.org/W841410736","https://openalex.org/W3004667746","https://openalex.org/W2167648512","https://openalex.org/W4235896340","https://openalex.org/W2612781909","https://openalex.org/W573486021","https://openalex.org/W2257897720"],"abstract_inverted_index":{"Abstract":[0],"The":[1,144,175],"article":[2],"describes":[3],"three":[4,111],"strategies":[5],"for":[6,184],"adaptive":[7,19,50,71,91,132,145,199],"control":[8,16,47,88,112,200],"of":[9,26,52,73,142,154,161],"cooperative":[10],"dual\u2010arm":[11],"robots.":[12],"In":[13,44,85,109],"the":[14,18,23,42,45,49,59,66,70,74,79,86,90,107,114,118,121,131,150,155,162,167,197],"position\u2010position":[15],"strategy,":[17,48,89],"controllers":[20,92,133,146,176],"ensure":[21,93],"that":[22,78,94],"end\u2010effector":[24,56,80],"positions":[25],"both":[27,95],"arms":[28,119],"track":[29,97],"desired":[30,82,104,136],"trajectories":[31,100],"in":[32,58,65,138],"Cartesian":[33],"space":[34],"despite":[35],"unknown":[36],"time\u2010varying":[37],"interaction":[38],"forces":[39,64,105],"exerted":[40],"through":[41,120],"load.":[43,108],"position\u2010hybrid":[46],"controller":[51,72],"one":[53],"arm":[54,76,156,163],"controls":[55],"motions":[57],"free":[60],"directions":[61],"and":[62,173,180],"applied":[63],"constraint":[67],"directions;":[68],"while":[69,101,134],"other":[75],"ensures":[77],"tracks":[81],"position":[83,99],"trajectories.":[84],"hybrid\u2010hybrid":[87],"end\u2010effectors":[96],"reference":[98],"simultaneously":[102],"applying":[103],"on":[106],"all":[110],"strategies,":[113],"coupling":[115],"effects":[116],"between":[117],"load":[122,168],"are":[123,128,181,193],"treated":[124],"as":[125,171],"\u201cdisturbances\u201d":[126],"which":[127],"rejected":[129],"by":[130],"following":[135],"commands":[137],"a":[139],"common":[140],"frame":[141],"reference.":[143],"do":[147],"not":[148],"require":[149],"complex":[151],"mathematical":[152],"model":[153],"dynamics":[157],"or":[158,166],"any":[159],"knowledge":[160],"dynamic":[164],"parameters":[165,169],"such":[170],"mass":[172],"stiffness.":[174],"have":[177],"simple":[178],"structures":[179],"computationally":[182],"fast":[183],"on\u2010line":[185],"implementation":[186],"with":[187],"high":[188],"sampling":[189],"rates.":[190],"Simulation":[191],"results":[192],"given":[194],"to":[195],"illustrate":[196],"proposed":[198],"strategies.":[201]},"counts_by_year":[{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}