{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:16:40Z","timestamp":1737263800753,"version":"3.33.0"},"reference-count":18,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,22]],"date-time":"2007-03-22T00:00:00Z","timestamp":1174521600000},"content-version":"vor","delay-in-days":5955,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1990,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>It has been shown recently that robot inverse kinematic transformation can be easily carried out by using a nonlinear dynamic system called \u201cjoint space command generator.\u201d In this paper, an adaptive version of the command generator is proposed. The main feature of this command generator is that the inverse Jacobian is estimated on\u2010line (using least\u2010squares algorithms), thus the explicit form of the inverse Jacobian is not required. Since the Jacobian is dependent on the end\u2010effector orientation representation, the adaptive command generator is then inherently flexible in accommodating any choice of orientation representation during Cartesian trajectory planning. The only knowledge required is the forward kinematics of the robot. Thus inverse kinematic transformation of robot trajectories can be carried out with a minimum amount of kinematic information. Extensive simulation studies of the proposed scheme have been carried out which showed that the adaptive command generator is computationally feasible and highly accurate. Different orientation representations have been tested with equal success. Some typical simulation results are presented to illustrate the performance of the adaptive command generator.<\/jats:p>","DOI":"10.1002\/rob.4620070606","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T10:53:18Z","timestamp":1183719198000},"page":"881-895","source":"Crossref","is-referenced-by-count":6,"title":["An adaptive scheme for robot joint trajectory generation"],"prefix":"10.1002","volume":"7","author":[{"given":"T. C.","family":"Hsia","sequence":"first","affiliation":[]},{"given":"Z. Y.","family":"Guo","sequence":"additional","affiliation":[]},{"given":"L.","family":"Li","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1980.1102367"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/56.781"},{"key":"e_1_2_1_4_2","unstructured":"D. L.Peiper \u201cThe Kinematics of Manipulators Under Computer Control \u201d Ph.D. Dissertation Dept. Comp. Sci. Stanford Univ. Stanford CA 1968."},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"W. A.WolovichandH.Elliot \u201cA computational technique for inverse kinematics \u201d Proceedings 23rd Conf. Decision and Control Las Vegas pp.1359\u20131363 1984.","DOI":"10.1109\/CDC.1984.272258"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/56.773"},{"key":"e_1_2_1_7_2","doi-asserted-by":"crossref","unstructured":"S. D.HillandR. J.Vaccaro \u201cA command generator for six d\u2010o\u2010f robotic manipulators \u201d in Proceedings 1987 IEEE Int. Conf. Robotics and Automation Raleigh pp.1104\u20131109 March1987.","DOI":"10.1109\/ROBOT.1987.1087848"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","unstructured":"S. D.HillandR. 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L.Gu \u201cAnalysis of orientation representations by lie algebra in robotics \u201d inProceedings 1988 Conf. on Robotics and Automation Philadelphia pp.874\u2013879 April1988."},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"B.Armstrong \u201cOn finding \u2018exciting\u2019 trajectories for identification experiments involving systems with non\u2010linear dynamics \u201d inProceedings of IEEE International Conference on Robotics and Automation pp.1131\u20131139 1987.","DOI":"10.1109\/ROBOT.1987.1087968"},{"volume-title":"Adaptive Filtering Prediction and Control","year":"1984","author":"Goodwin G. 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