{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T06:10:58Z","timestamp":1697955058362},"reference-count":6,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7682,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1986,3]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A picture of a scene is used to extract information for an adaptive control algorithm. The object of interest is first located by means of a classifier. The position and orientation of the object are determined from a binary picture. The desired path that the gripper of the manipulator is to follow is specified by discrete points, first in the Cartesian and then in the joint coordinate system. The adaptive self\u2010tuning controller is outlined. The controller design is based on a time series difference equation model in which the parameters are estimated on\u2010line. The gains of the controller are tuned so that a quadratic performance criterion is minimized. The performance of the system designed is then tested experimentally, and the results are presented.<\/jats:p>","DOI":"10.1002\/rob.4620030106","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T04:02:49Z","timestamp":1183694569000},"page":"59-70","source":"Crossref","is-referenced-by-count":7,"title":["Experiments on manipulator gross motion using self\u2010tuning controller and visual information"],"prefix":"10.1002","volume":"3","author":[{"given":"T. H.","family":"Chiu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A. J.","family":"Koivo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"R.","family":"Lewczyk","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","doi-asserted-by":"publisher","DOI":"10.1109\/MC.1982.1653913"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010204"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103211"},{"key":"e_1_2_1_5_2","first-page":"179","article-title":"Visual Pattern Recognition by Moment Invariants","author":"Hu M.\u2010K.","year":"1962","journal-title":"IRE Trans. Information Theory"},{"key":"e_1_2_1_6_2","unstructured":"R. C.Lewczyk Controlling a Robot Arm Using Visual Information M.S. Thesis Electrical Engineering Purdue University August1983."},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"K. J.\u00c5strom U.Borinson L.Ljung andB.Wittenmark \u201cTheory and Application of Self\u2010tuning Regulators \u201dAutomatica 457\u2013476(1977).","DOI":"10.1016\/0005-1098(77)90067-X"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620030106","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620030106","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T10:23:03Z","timestamp":1697883783000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620030106"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1986,3]]},"references-count":6,"journal-issue":{"issue":"1","published-print":{"date-parts":[[1986,3]]}},"alternative-id":["10.1002\/rob.4620030106"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620030106","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1986,3]]}}}