{"id":"https://openalex.org/W4252866884","doi":"https://doi.org/10.1109/robot.2005.1570613","title":"Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics","display_name":"Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics","publication_year":2006,"publication_date":"2006-01-18","ids":{"openalex":"https://openalex.org/W4252866884","doi":"https://doi.org/10.1109/robot.2005.1570613"},"language":"en","primary_location":{"id":"doi:10.1109/robot.2005.1570613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 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/A5100664416","display_name":"Chao Liu","orcid":"https://orcid.org/0000-0003-0696-3943"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":true,"raw_author_name":"Chao Liu","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5080753188","display_name":"Chien Chern Cheah","orcid":"https://orcid.org/0000-0003-3728-9277"},"institutions":[{"id":"https://openalex.org/I172675005","display_name":"Nanyang Technological University","ror":"https://ror.org/02e7b5302","country_code":"SG","type":"education","lineage":["https://openalex.org/I172675005"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Chien Chern Cheah","raw_affiliation_strings":["School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore"],"affiliations":[{"raw_affiliation_string":"School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore","institution_ids":["https://openalex.org/I172675005"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5100664416"],"corresponding_institution_ids":["https://openalex.org/I172675005"],"apc_list":null,"apc_paid":null,"fwci":1.80862977,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":{"value":0.8911751,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"3262","last_page":"3267"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976000189781189,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9976000189781189,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9976000189781189,"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":0.9972000122070312,"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/kinematics","display_name":"Kinematics","score":0.853495717048645},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.8255301117897034},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.755815863609314},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.747254490852356},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5934092998504639},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.5900132656097412},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5815860033035278},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5565087795257568},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.5292907357215881},{"id":"https://openalex.org/keywords/link","display_name":"Link (geometry)","score":0.5005388259887695},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.4949912428855896},{"id":"https://openalex.org/keywords/robot-manipulator","display_name":"Robot manipulator","score":0.43431907892227173},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4166536331176758},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.41555649042129517},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3215080797672272},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2181391417980194},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.19296658039093018},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15285184979438782},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13083025813102722}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.853495717048645},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.8255301117897034},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.755815863609314},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.747254490852356},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5934092998504639},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.5900132656097412},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5815860033035278},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5565087795257568},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.5292907357215881},{"id":"https://openalex.org/C2778753846","wikidata":"https://www.wikidata.org/wiki/Q6554239","display_name":"Link (geometry)","level":2,"score":0.5005388259887695},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4949912428855896},{"id":"https://openalex.org/C2985527887","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Robot manipulator","level":3,"score":0.43431907892227173},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4166536331176758},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.41555649042129517},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3215080797672272},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2181391417980194},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.19296658039093018},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15285184979438782},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13083025813102722},{"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/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","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},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robot.2005.1570613","is_oa":false,"landing_page_url":"https://doi.org/10.1109/robot.2005.1570613","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Proceedings of the 2005 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":27,"referenced_works":["https://openalex.org/W89510016","https://openalex.org/W1504907432","https://openalex.org/W1529378082","https://openalex.org/W1575037797","https://openalex.org/W1593774326","https://openalex.org/W1900034233","https://openalex.org/W1937885108","https://openalex.org/W1981057608","https://openalex.org/W1984598383","https://openalex.org/W2014841100","https://openalex.org/W2026769037","https://openalex.org/W2048603489","https://openalex.org/W2057550830","https://openalex.org/W2099276581","https://openalex.org/W2100843121","https://openalex.org/W2101033410","https://openalex.org/W2110633577","https://openalex.org/W2116090748","https://openalex.org/W2133668221","https://openalex.org/W2139267874","https://openalex.org/W2142350423","https://openalex.org/W2148896337","https://openalex.org/W2153324618","https://openalex.org/W2163898612","https://openalex.org/W4255769366","https://openalex.org/W6631744526","https://openalex.org/W6657719291"],"related_works":["https://openalex.org/W4239085902","https://openalex.org/W2165977608","https://openalex.org/W2313310159","https://openalex.org/W93192945","https://openalex.org/W2135044092","https://openalex.org/W2099329708","https://openalex.org/W2538293904","https://openalex.org/W1554233026","https://openalex.org/W2567520115","https://openalex.org/W2567391447"],"abstract_inverted_index":{"In":[0],"this":[1],"paper,":[2],"the":[3,28,45,53,65,83,86],"adaptive":[4,41,54],"regulation":[5],"problem":[6,47,56],"of":[7,85],"rigid-link":[8],"electrically":[9],"driven":[10],"(RLED)":[11],"robotic":[12],"manipulators":[13],"with":[14,57],"uncertain":[15,58],"kinematics":[16],"is":[17,24,49],"addressed.":[18],"A":[19],"new":[20],"task-space":[21],"control":[22,55,88],"scheme":[23],"proposed":[25,87],"to":[26,73,81],"overcome":[27],"uncertainties":[29],"in":[30,52],"actuator":[31,59],"dynamics,":[32],"robot":[33],"dynamics":[34],"and":[35],"kinematics.":[36],"By":[37],"using":[38],"a":[39],"novel":[40],"regressor,":[42],"we":[43],"avoid":[44],"overparameterization":[46],"which":[48],"often":[50],"met":[51],"model.":[60],"Sufficient":[61],"conditions":[62],"for":[63],"choosing":[64],"feedback":[66],"gains,":[67],"approximate":[68],"Jacobian":[69],"matrix":[70],"are":[71,79],"provided":[72],"guarantee":[74],"system":[75],"stability.":[76],"Simulation":[77],"results":[78],"presented":[80],"verify":[82],"effectiveness":[84],"scheme.":[89]},"counts_by_year":[{"year":2015,"cited_by_count":1},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
