{"id":"https://openalex.org/W2115527478","doi":"https://doi.org/10.1109/robot.1987.1088018","title":"An adaptive cartesian control scheme for manipulators","display_name":"An adaptive cartesian control scheme for manipulators","publication_year":2005,"publication_date":"2005-03-23","ids":{"openalex":"https://openalex.org/W2115527478","doi":"https://doi.org/10.1109/robot.1987.1088018","mag":"2115527478"},"language":"en","primary_location":{"id":"doi:10.1109/robot.1987.1088018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088018","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":"conference-paper","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/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]},{"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, Pasadena, CA","California institute of Technology, Pasadena, California#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA","institution_ids":["https://openalex.org/I1334627681"]},{"raw_affiliation_string":"California institute of Technology, Pasadena, California#TAB#","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"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":0.0,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.27413209,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"157","last_page":"164"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10571","display_name":"Robotic Mechanisms and Dynamics","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/T10040","display_name":"Adaptive Control of Nonlinear 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/T11749","display_name":"Iterative Learning Control 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":0.7959699034690857},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.7486422061920166},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.7256313562393188},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.707442581653595},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6323326826095581},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5879555940628052},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5765184760093689},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5015242099761963},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4972577393054962},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4531276226043701},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.42925482988357544},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.4290487766265869},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.36318445205688477},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2170296311378479},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20075517892837524},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.19012638926506042},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.18827760219573975}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7959699034690857},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.7486422061920166},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.7256313562393188},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.707442581653595},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6323326826095581},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5879555940628052},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5765184760093689},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5015242099761963},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4972577393054962},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4531276226043701},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.42925482988357544},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.4290487766265869},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.36318445205688477},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2170296311378479},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20075517892837524},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.19012638926506042},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.18827760219573975},{"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},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","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/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.1987.1088018","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.1987.1088018","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":[{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332375","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":35,"referenced_works":["https://openalex.org/W12112782","https://openalex.org/W1569867348","https://openalex.org/W1582353822","https://openalex.org/W1969887174","https://openalex.org/W1977491822","https://openalex.org/W1979554781","https://openalex.org/W1985893431","https://openalex.org/W2003573663","https://openalex.org/W2006813793","https://openalex.org/W2023504425","https://openalex.org/W2031057907","https://openalex.org/W2031526189","https://openalex.org/W2032904427","https://openalex.org/W2048320625","https://openalex.org/W2051560575","https://openalex.org/W2060739390","https://openalex.org/W2070038698","https://openalex.org/W2075848734","https://openalex.org/W2083483041","https://openalex.org/W2089285470","https://openalex.org/W2102331491","https://openalex.org/W2127304445","https://openalex.org/W2130872190","https://openalex.org/W2132560048","https://openalex.org/W2132950300","https://openalex.org/W2141038276","https://openalex.org/W2141753477","https://openalex.org/W2146440337","https://openalex.org/W2548251033","https://openalex.org/W2976529745","https://openalex.org/W3021222297","https://openalex.org/W3142830808","https://openalex.org/W6600483653","https://openalex.org/W6675403684","https://openalex.org/W6681084783"],"related_works":["https://openalex.org/W620095722","https://openalex.org/W2108470770","https://openalex.org/W1512021029","https://openalex.org/W1972862722","https://openalex.org/W2281732014","https://openalex.org/W2063351494","https://openalex.org/W2319803529","https://openalex.org/W1562326332","https://openalex.org/W1550017747","https://openalex.org/W2152839317"],"abstract_inverted_index":{"A":[0],"new":[1],"adaptive":[2,54,94,98],"control":[3,7,24,55,72,95],"scheme":[4,85],"for":[5,125],"direct":[6,46],"of":[8,35,64,70,76,82,107,114],"manipulator":[9],"end-effector":[10],"to":[11],"achieve":[12],"trajectory":[13],"tracking":[14],"in":[15,20,88],"Cartesian":[16],"space":[17],"is":[18,26,33,122],"developed":[19],"this":[21],"paper.":[22],"The":[23,45,68,97],"structure":[25],"obtained":[27],"from":[28,51],"linear":[29],"multivariable":[30],"theory":[31,56],"and":[32,38,41,57,73,86,121],"composed":[34],"simple":[36],"feedforward":[37,71],"feedback":[39],"controllers":[40],"an":[42],"auxiliary":[43,77],"input.":[44],"adaptation":[47],"laws":[48],"are":[49,58,79],"derived":[50],"model":[52,106],"reference":[53],"not":[59,101],"based":[60],"on":[61],"parameter":[62],"estimation":[63],"the":[65,74,83,103,108,115,119],"robot":[66,109,116],"model.":[67],"utilization":[69],"inclusion":[75],"input":[78],"novel":[80],"features":[81],"present":[84],"result":[87],"improved":[89],"dynamic":[90],"performance":[91],"over":[92],"existing":[93],"schemes.":[96],"controller":[99],"does":[100],"require":[102],"complex":[104],"mathematical":[105],"dynamics":[110],"or":[111,118],"any":[112],"knowledge":[113],"parameters":[117],"payload;":[120],"computationally":[123],"fast":[124],"on-line":[126],"implementation":[127],"with":[128],"high":[129],"sampling":[130],"rates.":[131]},"counts_by_year":[{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
