{"id":"https://openalex.org/W1864917393","doi":"https://doi.org/10.1109/robot.1987.1087895","title":"Adaptive manipulator control a case study","display_name":"Adaptive manipulator control a case study","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W1864917393","doi":"https://doi.org/10.1109/robot.1987.1087895","mag":"1864917393"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1087895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-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/A5110236073","display_name":"J.-J.E. Slotine","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"J.-J. Slotine","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA","Massachusetts Institute of Technology, Cambridge, Ma#TAB#"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]},{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, Ma#TAB#","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100415560","display_name":"Weiping Li","orcid":"https://orcid.org/0000-0002-5882-8527"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Weiping Li","raw_affiliation_strings":["Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA"],"affiliations":[{"raw_affiliation_string":"Nonlinear Systems Laboratory, Massachusetts Institute of Technology, Cambridge, MA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5110236073"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":32.5701,"has_fulltext":false,"cited_by_count":201,"citation_normalized_percentile":{"value":0.99769102,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"4","issue":null,"first_page":"1392","last_page":"1400"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","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/T11749","display_name":"Iterative Learning Control Systems","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":0.9995999932289124,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9993000030517578,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7620975971221924},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7006964087486267},{"id":"https://openalex.org/keywords/sylvesters-law-of-inertia","display_name":"Sylvester's law of inertia","score":0.652825653553009},{"id":"https://openalex.org/keywords/inertia","display_name":"Inertia","score":0.6187759637832642},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6125113368034363},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.5579304695129395},{"id":"https://openalex.org/keywords/inversion","display_name":"Inversion (geology)","score":0.4945811927318573},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.47589075565338135},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4503164291381836},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.4224779009819031},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33601248264312744},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19818779826164246},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19487035274505615},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14615494012832642},{"id":"https://openalex.org/keywords/symmetric-matrix","display_name":"Symmetric matrix","score":0.11057323217391968}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7620975971221924},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7006964087486267},{"id":"https://openalex.org/C56828936","wikidata":"https://www.wikidata.org/wiki/Q1752621","display_name":"Sylvester's law of inertia","level":4,"score":0.652825653553009},{"id":"https://openalex.org/C110407247","wikidata":"https://www.wikidata.org/wiki/Q122508","display_name":"Inertia","level":2,"score":0.6187759637832642},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6125113368034363},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.5579304695129395},{"id":"https://openalex.org/C1893757","wikidata":"https://www.wikidata.org/wiki/Q3653001","display_name":"Inversion (geology)","level":3,"score":0.4945811927318573},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.47589075565338135},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4503164291381836},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.4224779009819031},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33601248264312744},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19818779826164246},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19487035274505615},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14615494012832642},{"id":"https://openalex.org/C54848796","wikidata":"https://www.wikidata.org/wiki/Q339011","display_name":"Symmetric matrix","level":3,"score":0.11057323217391968},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","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/C109007969","wikidata":"https://www.wikidata.org/wiki/Q749565","display_name":"Structural basin","level":2,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","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},{"id":"https://openalex.org/C158693339","wikidata":"https://www.wikidata.org/wiki/Q190524","display_name":"Eigenvalues and eigenvectors","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"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/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1087895","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1087895","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings. 1987 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1534288204","https://openalex.org/W1554541185","https://openalex.org/W1968406128","https://openalex.org/W1989695340","https://openalex.org/W1994067443","https://openalex.org/W2001524797","https://openalex.org/W2034825286","https://openalex.org/W2065720856","https://openalex.org/W2070678224","https://openalex.org/W2079315820","https://openalex.org/W2083483041","https://openalex.org/W2089070007","https://openalex.org/W2097609579","https://openalex.org/W2107122120","https://openalex.org/W2114231924","https://openalex.org/W2120512179","https://openalex.org/W2122100123","https://openalex.org/W2134743926","https://openalex.org/W2156976422","https://openalex.org/W2165643318","https://openalex.org/W2381523230","https://openalex.org/W2610796673","https://openalex.org/W6676116243"],"related_works":["https://openalex.org/W4234131606","https://openalex.org/W292582153","https://openalex.org/W1974141195","https://openalex.org/W1968954906","https://openalex.org/W2055801945","https://openalex.org/W2567520115","https://openalex.org/W2567391447","https://openalex.org/W2080408381","https://openalex.org/W1925083093","https://openalex.org/W2316612812"],"abstract_inverted_index":{"Earlier":[0],"work":[1],"(Slotine":[2],"and":[3,144,160],"Li,":[4],"1986)":[5],"exploits":[6],"the":[7,34,41,48,60,74,83,102,107,139],"particular":[8],"structure":[9],"of":[10,33,40,78,88,110,141,165],"manipulator":[11,61],"dynamics":[12,114],"to":[13,65,92,112,155,161],"develop":[14],"a":[15,51,79,116,151],"simple,":[16],"globally":[17],"convergent":[18],"adaptive":[19,103],"algorithm":[20,26,84],"for":[21,134],"trajectory":[22],"control":[23],"problems.":[24],"The":[25],"does":[27],"not":[28],"require":[29],"measurements":[30],"or":[31,128],"estimates":[32],"manipulator's":[35],"joint":[36],"accelerations,":[37],"nor":[38],"inversion":[39],"estimated":[42,72],"inertia":[43],"matrix.":[44],"This":[45],"paper":[46],"demonstrates":[47],"approach":[49],"on":[50],"high-speed":[52],"2":[53],"d.o.f.":[54],"semi-direct-drive":[55],"robot.":[56],"It":[57],"shows":[58],"that":[59,101],"mass":[62,90],"properties,":[63],"assumed":[64],"be":[66,70,93],"initially":[67],"unknown,":[68],"can":[69],"precisely":[71,94],"within":[73],"first":[75],"half":[76],"second":[77],"typical":[80],"run.":[81],"Similarly,":[82],"allows":[85],"large":[86],"loads":[87],"unknown":[89],"properties":[91],"manipulated.":[95],"Further,":[96],"these":[97],"experimental":[98],"results":[99],"demonstrate":[100],"controller":[104],"enjoys":[105],"essentially":[106],"same":[108],"level":[109],"robustness":[111],"unmodelled":[113],"as":[115],"PD":[117,127],"controller,":[118],"yet":[119],"achieves":[120],"much":[121],"better":[122],"tracking":[123],"accuracy":[124],"than":[125],"either":[126],"computed-torque":[129],"schemes.":[130],"Its":[131],"superior":[132],"performance":[133],"high":[135],"speed":[136],"operations,":[137],"in":[138],"presence":[140],"parameter":[142],"uncertainties,":[143],"its":[145],"relative":[146],"computational":[147],"simplicity,":[148],"make":[149],"it":[150],"attractive":[152],"option":[153],"both":[154],"address":[156],"complex":[157],"industrial":[158],"tasks,":[159],"simplify":[162],"high-level":[163],"programming":[164],"more":[166],"standard":[167],"operations.":[168]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":2},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":2},{"year":2013,"cited_by_count":7},{"year":2012,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}