{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,23]],"date-time":"2023-10-23T20:20:19Z","timestamp":1698092419634},"reference-count":10,"publisher":"Wiley","issue":"2","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":8320,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1984,6]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The detailed model for the motion of a manipulator system is linearized along a specific path. An on\u2010line parameter estimation algorithm based on the least\u2010squares criterion is used to determine the parameter values along the path at the operating instances. Based on the estimated parameter values, a self\u2010tuning adaptive controller is designed by minimizing a chosen performance criterion. Simulation results as well as experimental results are presented to demonstrate the approach. Certain aspects of the implementation are discussed.<\/jats:p>","DOI":"10.1002\/rob.4620010204","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T02:32:20Z","timestamp":1183689140000},"page":"141-156","source":"Crossref","is-referenced-by-count":12,"title":["On a linearized model and adaptive controller implementation for manipulator motion"],"prefix":"10.1002","volume":"1","author":[{"given":"T. H.","family":"Guo","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. J.","family":"Koivo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","unstructured":"A. K.Bejczy \u201cRobot Arm Dynamics and Control \u201d JPL Memorandum33\u2013669 February1974."},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"A. J.KoivoandT. H.Guo \u201cAdaptive Linear Controller for Robotic Manipulators \u201dIEEE Trans. Autom. Control(1983).","DOI":"10.1109\/TAC.1983.1103211"},{"key":"e_1_2_1_4_2","volume-title":"Introduction to Stochastic Control Theory","author":"\u00c5strom K. J.","year":"1970"},{"key":"e_1_2_1_5_2","volume-title":"Theory of Nonlinear Control Systems","author":"Minorksy N.","year":"1974"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426492"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426959"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426424"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"K. J.\u00c5strom U.Borinson L.Ljung andB.Wittenmark \u201cTheory and Application of Self\u2010Tuning Regulators \u201d Automatic 457\u2013476(1977).","DOI":"10.1016\/0005-1098(77)90067-X"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178008961095"},{"key":"e_1_2_1_11_2","unstructured":"T. H.Guo \u201cAdaptive Control of a Manipulator and Its Microprocessor Implementation \u201d Ph.D. Thesis Electrical Engineering Purdue University December1982."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620010204","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620010204","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,20]],"date-time":"2023-10-20T02:53:43Z","timestamp":1697770423000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620010204"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1984,6]]},"references-count":10,"journal-issue":{"issue":"2","published-print":{"date-parts":[[1984,6]]}},"alternative-id":["10.1002\/rob.4620010204"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620010204","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1984,6]]}}}