{"id":"https://openalex.org/W2035532613","doi":"https://doi.org/10.1002/rob.4620070105","title":"Experimental study on direct adaptive control of a PUMA 560 industrial robot","display_name":"Experimental study on direct adaptive control of a PUMA 560 industrial robot","publication_year":1990,"publication_date":"1990-02-01","ids":{"openalex":"https://openalex.org/W2035532613","doi":"https://doi.org/10.1002/rob.4620070105","mag":"2035532613"},"language":"en","primary_location":{"id":"doi:10.1002/rob.4620070105","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070105","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"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055101060","display_name":"T. Lee","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":false,"raw_author_name":"T. Lee","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"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5029142217","display_name":"Michel Delpech","orcid":null},"institutions":[{"id":"https://openalex.org/I2799535048","display_name":"Centre National d'\u00c9tudes Spatiales","ror":"https://ror.org/04h1h0y33","country_code":"FR","type":"funder","lineage":["https://openalex.org/I2799535048"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"M. Delpech","raw_affiliation_strings":["DRT/SEAIAR, Centre National d'Etudes Spatiales, Toulouse 31055, France"],"affiliations":[{"raw_affiliation_string":"DRT/SEAIAR, Centre National d'Etudes Spatiales, Toulouse 31055, France","institution_ids":["https://openalex.org/I2799535048"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5027386319"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":0.7054,"has_fulltext":false,"cited_by_count":7,"citation_normalized_percentile":{"value":0.72322322,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"7","issue":"1","first_page":"81","last_page":"105"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9919999837875366,"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":0.9882000088691711,"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/robot","display_name":"Robot","score":0.6481902003288269},{"id":"https://openalex.org/keywords/pid-controller","display_name":"PID controller","score":0.6448899507522583},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6438479423522949},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6342446804046631},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5094550251960754},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48709988594055176},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4850463271141052},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.47743162512779236},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4659724235534668},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.4623180031776428},{"id":"https://openalex.org/keywords/testbed","display_name":"Testbed","score":0.4606618285179138},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3450201749801636},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.33488571643829346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20714688301086426},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18698593974113464},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.1802416443824768},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.08873263001441956}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6481902003288269},{"id":"https://openalex.org/C47116090","wikidata":"https://www.wikidata.org/wiki/Q716829","display_name":"PID controller","level":3,"score":0.6448899507522583},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6438479423522949},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6342446804046631},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5094550251960754},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48709988594055176},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4850463271141052},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.47743162512779236},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4659724235534668},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.4623180031776428},{"id":"https://openalex.org/C31395832","wikidata":"https://www.wikidata.org/wiki/Q1318674","display_name":"Testbed","level":2,"score":0.4606618285179138},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3450201749801636},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.33488571643829346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20714688301086426},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18698593974113464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.1802416443824768},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.08873263001441956},{"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1002/rob.4620070105","is_oa":false,"landing_page_url":"https://doi.org/10.1002/rob.4620070105","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":[{"id":"https://metadata.un.org/sdg/9","score":0.4099999964237213,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":4,"referenced_works":["https://openalex.org/W1984218880","https://openalex.org/W2017457232","https://openalex.org/W2057942173","https://openalex.org/W2128135221"],"related_works":["https://openalex.org/W2883256816","https://openalex.org/W2171408034","https://openalex.org/W3003320923","https://openalex.org/W2106140982","https://openalex.org/W2152313554","https://openalex.org/W2064303750","https://openalex.org/W3048672182","https://openalex.org/W1509300825","https://openalex.org/W3092582874","https://openalex.org/W2054620577"],"abstract_inverted_index":{"Abstract":[0],"The":[1,22,51,93,121,175,199],"article":[2],"describes":[3],"the":[4,44,57,67,71,86,90,128,137,140,148,161,164,183,192,195],"implementation":[5],"and":[6,33,35,70,77,111,131,144,205],"experimental":[7,151],"validation":[8],"of":[9,26,101,147,163,169,182,194],"a":[10,17,27,36,63,107],"new":[11],"direct":[12],"adaptive":[13,113,122],"control":[14,52,94,156,181,197,200],"scheme":[15,176,201],"on":[16,56,153],"PUMA":[18,29,68,154],"560":[19,30],"industrial":[20],"robot.":[21,149],"testbed":[23],"facility":[24],"consists":[25,100],"Unimation":[28,72],"six\u2010jointed":[31],"robot":[32,98],"controller,":[34,110],"DEC":[37],"Micro":[38,58,87],"VAX":[39,59,88],"II":[40],"computer":[41],"which":[42,60],"hosts":[43],"RCCL":[45],"(Robot":[46],"Control":[47],"\u201cC\u201d":[48],"Library)":[49],"software.":[50],"algorithm":[53,95],"is":[54,74,177,202],"implemented":[55,179],"acts":[61],"as":[62,80],"digital":[64],"controller":[65,73,117],"for":[66,96,127,139,180,209],"robot,":[69],"effectively":[75],"bypassed":[76],"used":[78],"merely":[79],"an":[81,102,112],"I/O":[82],"device":[83],"to":[84,89,159],"interface":[85],"joint":[91,99,124,155,173],"motors.":[92],"each":[97],"auxiliary":[103],"signal":[104],"generated":[105],"by":[106],"constant\u2010gain":[108],"PID":[109],"position\u2010velocity":[114],"(PD)":[115],"feedback":[116],"with":[118,212],"adjustable":[119],"gains.":[120],"independent":[123],"controllers":[125],"compensate":[126],"interjoint":[129],"couplings":[130],"achieve":[132],"accurate":[133],"trajectory":[134],"tracking":[135],"without":[136],"need":[138],"complex":[141],"dynamic":[142],"model":[143],"parameter":[145],"values":[146],"Extensive":[150],"results":[152,190],"are":[157],"presented":[158],"confirm":[160],"feasibility":[162],"proposed":[165,196],"scheme,":[166],"in":[167,186],"spite":[168],"strong":[170],"interactions":[171],"between":[172],"motions.":[174],"also":[178],"end\u2010effector":[184],"motion":[185],"Cartesian":[187],"space.":[188],"Experimental":[189],"validate":[191],"capabilities":[193],"scheme.":[198],"extremely":[203],"simple":[204],"computationally":[206],"very":[207],"fast":[208],"concurrent":[210],"processing":[211],"high":[213],"sampling":[214],"rates.":[215]},"counts_by_year":[],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}