{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,22]],"date-time":"2025-10-22T17:44:08Z","timestamp":1761155048244},"reference-count":12,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":6433,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1989,8]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>A decentralized adaptive control scheme is proposed for the trajectory tracking of a general <jats:italic>n<\/jats:italic>\u2010degree\u2010of\u2010freedom robot manipulator. The robot is considered as a set of decoupled second\u2010order systems with disturbances. The controller consists of feedforward from the desired trajectory based on the \u201cinverse system\u201d of the model, PID feedback from the actual trajectory, and auxiliary input for the compensation of the neglected terms in modeling in each subsystem. The gain is derived in diagonal matrix form, and is adjusted by the model reference adaptive control theory based on the Lyapunov's direct method. The result is high accuracy in path tracking despite the high speed, load change, and sudden torque disturbances. Numerical simulations on.a planar two\u2010link robot manipulator are presented to show the performance under various practical considerations.<\/jats:p>","DOI":"10.1002\/rob.4620060410","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:30:48Z","timestamp":1183714248000},"page":"461-483","source":"Crossref","is-referenced-by-count":3,"title":["Decentralized adaptive control of robot manipulators"],"prefix":"10.1002","volume":"6","author":[{"given":"B. J.","family":"Oh","sequence":"first","affiliation":[]},{"given":"M.","family":"Jamshidi","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(85)90038-X"},{"key":"e_1_2_1_3_2","first-page":"321","volume-title":"Robust decentralized model\u2010reference adaptive control in the manipulator control problem","author":"Bundell G. A.","year":"1985"},{"key":"e_1_2_1_4_2","unstructured":"B. J.Oh M.Jamshidi H.Seraji. \u201cAdaptive decentralized feedforward robot control \u201d Presented at the International Symposium on the Mathematical Theory of Networks and Systems Phoenix AZ June15\u201319 1987."},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3139650"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1080\/0020718508961208"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1016\/0167-8493(87)90053-2"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"H.Seraji \u201cDesign of multivariable controllers for robot manipulators \u201d Proc. of ACC 1736\u20131741 1986.","DOI":"10.23919\/ACC.1986.4789209"},{"key":"e_1_2_1_9_2","volume-title":"Adaptive control of robotic manipulators","author":"Seraji H.","year":"1986"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620040406"},{"key":"e_1_2_1_11_2","volume-title":"Adaptive Systems with Reduced Models","author":"Loannou P. A.","year":"1983"},{"key":"e_1_2_1_12_2","unstructured":"B. J.Oh M.Jamshidi andH.Seraji \u201cA decentralized adaptive control \u201d Proc. IEEE Internal. Conf. on Robotics and Automation April 1988."},{"key":"e_1_2_1_13_2","unstructured":"B. J.OhandM.Jamshidi \u201cDecentralized adaptive feedforward\/feedback robot manipulator control \u201d Proc. IEEE Annual Conf. on Systems Man and Cybernetics VA October1987 pp.355\u2013359."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620060410","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620060410","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T08:40:09Z","timestamp":1697964009000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620060410"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1989,8]]},"references-count":12,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1989,8]]}},"alternative-id":["10.1002\/rob.4620060410"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620060410","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1989,8]]}}}