{"id":"https://openalex.org/W2995023946","doi":"https://doi.org/10.1109/tsmc.2019.2956961","title":"New Joint-Drift-Free Scheme Aided with Projected ZNN for Motion Generation of Redundant Robot Manipulators Perturbed by Disturbances","display_name":"New Joint-Drift-Free Scheme Aided with Projected ZNN for Motion Generation of Redundant Robot Manipulators Perturbed by Disturbances","publication_year":2019,"publication_date":"2019-12-19","ids":{"openalex":"https://openalex.org/W2995023946","doi":"https://doi.org/10.1109/tsmc.2019.2956961","mag":"2995023946"},"language":"en","primary_location":{"id":"doi:10.1109/tsmc.2019.2956961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2956961","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: 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/A5030210085","display_name":"Huiyan Lu","orcid":"https://orcid.org/0000-0002-1811-1070"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]},{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Huiyan Lu","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100703636","display_name":"Long Jin","orcid":"https://orcid.org/0000-0002-5329-5098"},"institutions":[{"id":"https://openalex.org/I4210094879","display_name":"Shandong Institute of Automation","ror":"https://ror.org/00qdtba35","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210094879","https://openalex.org/I4210142748"]},{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]},{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Long Jin","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China","State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]},{"raw_affiliation_string":"State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I4210094879","https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100320402","display_name":"Jiliang Zhang","orcid":"https://orcid.org/0000-0003-3750-6841"},"institutions":[{"id":"https://openalex.org/I91136226","display_name":"University of Sheffield","ror":"https://ror.org/05krs5044","country_code":"GB","type":"education","lineage":["https://openalex.org/I91136226"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Jiliang Zhang","raw_affiliation_strings":["University of Sheffield, Sheffield, U.K"],"affiliations":[{"raw_affiliation_string":"University of Sheffield, Sheffield, U.K","institution_ids":["https://openalex.org/I91136226"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055505703","display_name":"Zhenan Sun","orcid":"https://orcid.org/0000-0003-4029-9935"},"institutions":[{"id":"https://openalex.org/I19820366","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35","country_code":"CN","type":"funder","lineage":["https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenan Sun","raw_affiliation_strings":["Center for Research on Intelligent Perception and Computing, Chinese Academy of Sciences, Beijing, China"],"affiliations":[{"raw_affiliation_string":"Center for Research on Intelligent Perception and Computing, Chinese Academy of Sciences, Beijing, China","institution_ids":["https://openalex.org/I19820366"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100424064","display_name":"Shuai Li","orcid":"https://orcid.org/0000-0001-8316-5289"},"institutions":[{"id":"https://openalex.org/I76214153","display_name":"Lanzhou University","ror":"https://ror.org/01mkqqe32","country_code":"CN","type":"education","lineage":["https://openalex.org/I76214153"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shuai Li","raw_affiliation_strings":["School of Information Science and Engineering, Lanzhou University, Lanzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Information Science and Engineering, Lanzhou University, Lanzhou, China","institution_ids":["https://openalex.org/I76214153"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100388920","display_name":"Zhijun Zhang","orcid":"https://orcid.org/0000-0002-6859-3426"},"institutions":[{"id":"https://openalex.org/I90610280","display_name":"South China University of Technology","ror":"https://ror.org/0530pts50","country_code":"CN","type":"education","lineage":["https://openalex.org/I90610280"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhijun Zhang","raw_affiliation_strings":["School of Automation Science and Engineering, South China University of Technology, Guangzhou, China"],"affiliations":[{"raw_affiliation_string":"School of Automation Science and Engineering, South China University of Technology, Guangzhou, China","institution_ids":["https://openalex.org/I90610280"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5030210085"],"corresponding_institution_ids":["https://openalex.org/I19820366","https://openalex.org/I4210094879","https://openalex.org/I76214153"],"apc_list":null,"apc_paid":null,"fwci":4.9895,"has_fulltext":false,"cited_by_count":65,"citation_normalized_percentile":{"value":0.95875047,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":"51","issue":"9","first_page":"5639","last_page":"5651"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"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":0.9998000264167786,"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":0.9987999796867371,"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":0.9986000061035156,"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":0.6554820537567139},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6429365873336792},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6188485622406006},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.5965867042541504},{"id":"https://openalex.org/keywords/cartesian-coordinate-system","display_name":"Cartesian coordinate system","score":0.591806173324585},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.5260457992553711},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5003583431243896},{"id":"https://openalex.org/keywords/projection","display_name":"Projection (relational algebra)","score":0.4685835540294647},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.4641379714012146},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.33170443773269653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2435196042060852},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.2254437506198883},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.1593017876148224},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.10775113105773926},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09813371300697327},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.07905098795890808},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.07316318154335022}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6554820537567139},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6429365873336792},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6188485622406006},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.5965867042541504},{"id":"https://openalex.org/C16038011","wikidata":"https://www.wikidata.org/wiki/Q62912","display_name":"Cartesian coordinate system","level":2,"score":0.591806173324585},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.5260457992553711},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5003583431243896},{"id":"https://openalex.org/C57493831","wikidata":"https://www.wikidata.org/wiki/Q3134666","display_name":"Projection (relational algebra)","level":2,"score":0.4685835540294647},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4641379714012146},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.33170443773269653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2435196042060852},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2254437506198883},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.1593017876148224},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.10775113105773926},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09813371300697327},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.07905098795890808},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.07316318154335022},{"id":"https://openalex.org/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","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},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tsmc.2019.2956961","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tsmc.2019.2956961","pdf_url":null,"source":{"id":"https://openalex.org/S4210209078","display_name":"IEEE Transactions on Systems Man and Cybernetics Systems","issn_l":"2168-2216","issn":["2168-2216","2168-2232"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Systems, Man, and Cybernetics: Systems","raw_type":"journal-article"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/378440","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/378440","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Early Access Articles"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/469967","is_oa":false,"landing_page_url":"http://ir.lzu.edu.cn/handle/262010/469967","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Journal article (JA)"},{"id":"pmh:oai:ir.lzu.edu.cn/:262010/415185","is_oa":false,"landing_page_url":"https://ieeexplore.ieee.org/document/8937020/","pdf_url":null,"source":{"id":"https://openalex.org/S4406923049","display_name":"Lanzhou University Institutional Repository","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Early Access Articles"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1174880135","display_name":null,"funder_award_id":"2017YFE0118900","funder_id":"https://openalex.org/F4320335777","funder_display_name":"National Key Research and Development Program of China"},{"id":"https://openalex.org/G4008459963","display_name":null,"funder_award_id":"18JR3RA264","funder_id":"https://openalex.org/F4320322880","funder_display_name":"Natural Science Foundation of Gansu Province"},{"id":"https://openalex.org/G4758148854","display_name":null,"funder_award_id":"20190112","funder_id":"https://openalex.org/F4320321133","funder_display_name":"Chinese Academy of Sciences"},{"id":"https://openalex.org/G7282980257","display_name":null,"funder_award_id":"lzujbky-2019-89","funder_id":"https://openalex.org/F4320335787","funder_display_name":"Fundamental Research Funds for the Central Universities"},{"id":"https://openalex.org/G7634405158","display_name":null,"funder_award_id":"61703189","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"},{"id":"https://openalex.org/G7970384579","display_name":null,"funder_award_id":"19YYJC1656","funder_id":"https://openalex.org/F4320333335","funder_display_name":"Sichuan Province Science and Technology Support Program"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321133","display_name":"Chinese Academy of Sciences","ror":"https://ror.org/034t30j35"},{"id":"https://openalex.org/F4320322880","display_name":"Natural Science Foundation of Gansu Province","ror":null},{"id":"https://openalex.org/F4320333335","display_name":"Sichuan Province Science and Technology Support Program","ror":null},{"id":"https://openalex.org/F4320335777","display_name":"National Key Research and Development Program of China","ror":null},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W254046884","https://openalex.org/W1971933705","https://openalex.org/W1982553119","https://openalex.org/W1983152073","https://openalex.org/W1988751333","https://openalex.org/W2007178709","https://openalex.org/W2041364558","https://openalex.org/W2065894561","https://openalex.org/W2080532287","https://openalex.org/W2087042989","https://openalex.org/W2155564215","https://openalex.org/W2156396274","https://openalex.org/W2169555996","https://openalex.org/W2253274025","https://openalex.org/W2343113774","https://openalex.org/W2428098056","https://openalex.org/W2467979783","https://openalex.org/W2536318021","https://openalex.org/W2549092026","https://openalex.org/W2556673367","https://openalex.org/W2559957666","https://openalex.org/W2562369931","https://openalex.org/W2591194352","https://openalex.org/W2607322329","https://openalex.org/W2609869589","https://openalex.org/W2613446563","https://openalex.org/W2765910425","https://openalex.org/W2767834527","https://openalex.org/W2769154133","https://openalex.org/W2785763926","https://openalex.org/W2787568736","https://openalex.org/W2797679738","https://openalex.org/W2800384809","https://openalex.org/W2800459683","https://openalex.org/W2883844658","https://openalex.org/W2883972132","https://openalex.org/W2887191391","https://openalex.org/W2899364234","https://openalex.org/W2915278269","https://openalex.org/W2947265870","https://openalex.org/W6672254529"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2391000165"],"abstract_inverted_index":{"Joint-drift":[0],"problems":[1,189,229],"could":[2,123],"result":[3],"in":[4,6,13,30,38,44,57,67,72,80,116,141,148,162,234],"failures":[5],"executing":[7],"task":[8,56],"or":[9,126],"even":[10,127],"damage":[11],"robots":[12],"actual":[14],"applications":[15],"and":[16,48,76,103,114,145,185,196,214],"different":[17,203],"schemes":[18],"have":[19],"been":[20],"presented":[21],"to":[22,64,164,174,179,209],"deal":[23],"with":[24],"such":[25],"a":[26,65,92],"knotty":[27],"problem.":[28],"However,":[29],"these":[31],"existing":[32],"schemes,":[33],"there":[34],"exists":[35],"the":[36,42,45,49,54,58,73,81,100,120,136,142,149,153,167,175,180,187,200,211,217,223],"coupling":[37],"coefficients":[39],"for":[40,52,99,152,226],"eliminating":[41],"drift":[43,71],"joint":[46,70,74,139,143],"space":[47,75,83,144,151],"equality":[50],"constraint":[51],"completing":[53],"given":[55],"Cartesian":[59,82,150],"space,":[60],"thereby,":[61],"theoretically,":[62],"leading":[63],"paradox":[66],"achieving":[68],"zero":[69,77],"position":[78,146],"error":[79],"simultaneously.":[84],"A":[85],"novel":[86],"joint-drift-free":[87],"(JDF)":[88],"scheme":[89,133,220],"synthesized":[90,221],"by":[91,110,222],"projected":[93],"zeroing":[94],"neural":[95],"network":[96],"(PZNN)":[97],"model":[98,122,169,225],"motion":[101,181],"generation":[102,182],"control":[104],"of":[105,138,171,183,202,216,230],"redundant":[106,231],"robot":[107,204,232],"manipulators":[108,205,233],"perturbed":[109],"disturbances":[111],"is":[112,160,170],"proposed":[113,132,218],"analyzed":[115],"this":[117],"article.":[118],"Besides,":[119],"PZNN":[121,168,224],"adopt":[124],"saturated":[125],"nonconvex":[128],"projection":[129],"functions.":[130],"The":[131],"completely":[134],"decouples":[135],"interferences":[137],"errors":[140,147],"first":[154],"time.":[155],"Beyond":[156],"that,":[157],"theoretical":[158,176],"analysis":[159],"conducted":[161],"order":[163],"validate":[165],"that":[166,186],"global":[172],"convergence":[173],"kinematics":[177],"solution":[178],"robots,":[184],"joint-drift":[188,228],"are":[190,206],"thus":[191],"remedied.":[192],"Moreover,":[193],"several":[194],"simulations":[195],"physical":[197],"experiments":[198],"on":[199],"strength":[201],"carried":[207],"out":[208],"confirm":[210],"superiority,":[212],"efficiency,":[213],"accuracy":[215],"JDF":[219],"remedying":[227],"noisy":[235],"environments.":[236]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":13},{"year":2023,"cited_by_count":9},{"year":2022,"cited_by_count":13},{"year":2021,"cited_by_count":9},{"year":2020,"cited_by_count":8}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}