{"id":"https://openalex.org/W2104028030","doi":"https://doi.org/10.1017/s0263574799001198","title":"Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators","display_name":"Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators","publication_year":1999,"publication_date":"1999-05-01","ids":{"openalex":"https://openalex.org/W2104028030","doi":"https://doi.org/10.1017/s0263574799001198","mag":"2104028030"},"language":"en","primary_location":{"id":"doi:10.1017/s0263574799001198","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001198","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","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/A5085499418","display_name":"Rafael Kelly","orcid":"https://orcid.org/0000-0002-7660-0745"},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Rafael Kelly","raw_affiliation_strings":["Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana\u2013Ensenada Km. 107, Ensenada, B. C., 22800 (Mexico ). E-mail:","Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: rkelly@cicese.mx"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana\u2013Ensenada Km. 107, Ensenada, B. C., 22800 (Mexico ). E-mail:","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: rkelly@cicese.mx","institution_ids":["https://openalex.org/I64663401"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5072496516","display_name":"Angel Coello","orcid":null},"institutions":[{"id":"https://openalex.org/I64663401","display_name":"Centro de Investigaci\u00f3n Cient\u00edfica y de Educaci\u00f3n Superior de Ensenada","ror":"https://ror.org/04znhwb73","country_code":"MX","type":"facility","lineage":["https://openalex.org/I64663401"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"Angel Coello","raw_affiliation_strings":["Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana\u2013Ensenada Km. 107, Ensenada, B. C., 22800 (Mexico ). E-mail:","Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: rkelly@cicese.mx"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana\u2013Ensenada Km. 107, Ensenada, B. C., 22800 (Mexico ). E-mail:","institution_ids":["https://openalex.org/I64663401"]},{"raw_affiliation_string":"Divisi\u00f3n de F\u00edsica Aplicada, CICESE, Apdo. Postal 2615, Adm. 1, Carretera Tijuana-Ensenada Km. 107, Ensenada, B.C. 22800, Mexico. E-mail: rkelly@cicese.mx","institution_ids":["https://openalex.org/I64663401"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":5.5506,"has_fulltext":false,"cited_by_count":21,"citation_normalized_percentile":{"value":0.95653725,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":"17","issue":"3","first_page":"303","last_page":"312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962000250816345,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9962000250816345,"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/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9704999923706055,"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/T13644","display_name":"Control Systems in Engineering","score":0.9333000183105469,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.9401666522026062},{"id":"https://openalex.org/keywords/transpose","display_name":"Transpose","score":0.8848466277122498},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.6562715768814087},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.648871660232544},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6406395435333252},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5676040649414062},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.469535231590271},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45931628346443176},{"id":"https://openalex.org/keywords/inverse","display_name":"Inverse","score":0.4433702230453491},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.43940269947052},{"id":"https://openalex.org/keywords/gravitational-singularity","display_name":"Gravitational singularity","score":0.4193885326385498},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.41013967990875244},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.39272841811180115},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.23276951909065247},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.14601027965545654},{"id":"https://openalex.org/keywords/mathematical-analysis","display_name":"Mathematical analysis","score":0.11614039540290833},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.10364887118339539},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10361337661743164},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.098605215549469},{"id":"https://openalex.org/keywords/eigenvalues-and-eigenvectors","display_name":"Eigenvalues and eigenvectors","score":0.06716868281364441},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.06440693140029907}],"concepts":[{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.9401666522026062},{"id":"https://openalex.org/C200106649","wikidata":"https://www.wikidata.org/wiki/Q223683","display_name":"Transpose","level":3,"score":0.8848466277122498},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.6562715768814087},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.648871660232544},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6406395435333252},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5676040649414062},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.469535231590271},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45931628346443176},{"id":"https://openalex.org/C207467116","wikidata":"https://www.wikidata.org/wiki/Q4385666","display_name":"Inverse","level":2,"score":0.4433702230453491},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.43940269947052},{"id":"https://openalex.org/C12843","wikidata":"https://www.wikidata.org/wiki/Q201721","display_name":"Gravitational singularity","level":2,"score":0.4193885326385498},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.41013967990875244},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.39272841811180115},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.23276951909065247},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.14601027965545654},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.11614039540290833},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.10364887118339539},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10361337661743164},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.098605215549469},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.06716868281364441},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.06440693140029907},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","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}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1017/s0263574799001198","is_oa":false,"landing_page_url":"https://doi.org/10.1017/s0263574799001198","pdf_url":null,"source":{"id":"https://openalex.org/S92163612","display_name":"Robotica","issn_l":"0263-5747","issn":["0263-5747","1469-8668"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310311721","host_organization_name":"Cambridge University Press","host_organization_lineage":["https://openalex.org/P4310311721","https://openalex.org/P4310311702"],"host_organization_lineage_names":["Cambridge University Press","University of Cambridge"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Robotica","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.7599999904632568,"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1496777766","https://openalex.org/W1529378082","https://openalex.org/W1559749952","https://openalex.org/W1596951786","https://openalex.org/W1798507116","https://openalex.org/W1889081428","https://openalex.org/W1978071493","https://openalex.org/W1993638076","https://openalex.org/W2005684095","https://openalex.org/W2009815982","https://openalex.org/W2016857105","https://openalex.org/W2048603489","https://openalex.org/W2062691475","https://openalex.org/W2129092695","https://openalex.org/W2144908914","https://openalex.org/W2149532112","https://openalex.org/W2161538017","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2168163110","https://openalex.org/W3207008345","https://openalex.org/W3167309527","https://openalex.org/W4287121803","https://openalex.org/W2539593765","https://openalex.org/W2104028030","https://openalex.org/W2058544403","https://openalex.org/W4200338325","https://openalex.org/W2144625296","https://openalex.org/W2145930998"],"abstract_inverted_index":{"Transpose":[0],"Jacobian-based":[1,46,98],"controllers":[2,14],"represent":[3],"an":[4],"attractive":[5],"approach":[6],"to":[7,16,22,82],"robot":[8,19,38],"control":[9],"in":[10,59],"Cartesian":[11],"space.":[12],"These":[13],"attempt":[15],"drive":[17],"the":[18,32,37,50,67],"end-effector":[20],"posture":[21],"a":[23,70,88,107],"specified":[24],"desired":[25],"position":[26],"and":[27],"orientation":[28],"without":[29],"solving":[30],"either":[31],"inverse":[33,39],"kinematics":[34],"nor":[35],"computing":[36],"Jacobian.":[40],"A":[41],"wide":[42],"class":[43],"of":[44,69,90,95],"transpose":[45,97],"regulators":[47,99],"obtained":[48],"from":[49],"energy":[51],"shaping":[52],"plus":[53],"damping":[54],"injection":[55],"technique":[56],"is":[57,66,100],"analyzed":[58],"this":[60],"paper.":[61],"Our":[62],"main":[63],"theoretical":[64],"contribution":[65],"introduction":[68],"novel":[71],"analysis":[72],"which":[73],"does":[74],"not":[75],"invoke":[76],"any":[77],"assumption":[78],"on":[79,106],"Jacobian":[80],"singularities":[81],"ensure":[83],"local":[84],"asymptotic":[85],"stability":[86],"for":[87],"family":[89],"nonredundant":[91],"robots.":[92],"The":[93],"performance":[94],"four":[96],"illustrated":[101],"via":[102],"experimental":[103],"tests":[104],"conducted":[105],"direct-drive":[108],"vertical":[109],"arm.":[110]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}