{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,25]],"date-time":"2026-04-25T15:21:02Z","timestamp":1777130462651,"version":"3.51.4"},"reference-count":28,"publisher":"Wiley","issue":"5","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":5003,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1993,7]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article presents the implementation of a joint\u2010space adaptive control scheme used to control noncompliant motion of a Stewart platform\u2010based manipulator (SPBM) that is used in a facility called the Hardware Real\u2010Time Emulator (HRTE) developed at Goddard Space Flight Center to emulate space operations. The SPBM is comprised of two platforms and six linear actuators driven by dc motors, and possesses six degrees of freedom. The article briefly reviews the development of the adaptive control scheme, which is composed of proportional\u2010derivative (PD) controllers whose gains are adjusted by an adaptation law driven by the errors between the desired and actual trajectories of the SPBM actuator lengths. The derivation of the adaptation law is based on the concept of model reference adaptive control (MRAC) and Lyapunov direct method under the assumption that SPBM motion is slow as compared to the controller adaptation rate. An experimental study is conducted to evaluate the performance of the adaptive control scheme implemented to control the SPBM to track a vertical and circular paths under step changes in payload. Experimental results show that the adaptive control scheme provides superior tracking capability as compared to fixed\u2010gain controllers.<\/jats:p>","DOI":"10.1002\/rob.4620100507","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T13:28:36Z","timestamp":1183728516000},"page":"657-687","source":"Crossref","is-referenced-by-count":150,"title":["Adaptive control of a stewart platform\u2010based manipulator"],"prefix":"10.1002","volume":"10","author":[{"given":"Charles C.","family":"Nguyen","sequence":"first","affiliation":[]},{"given":"Sami S.","family":"Antrazi","sequence":"additional","affiliation":[]},{"given":"Zhen\u2010Lei","family":"Zhou","sequence":"additional","affiliation":[]},{"suffix":"Jr.","given":"Charles E.","family":"Campbell","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":"10.1243\/PIME_PROC_1965_180_029_02"},{"key":"e_1_2_1_3_2","unstructured":"J. E.Dieudonneet al. \u201cAn actuator extension transformation for a motion simulator and an inverse transformation applying Newton\u2010Raphson's method \u201d NASA Technical Report D\u20107067 1972."},{"key":"e_1_2_1_4_2","volume-title":"Kinematic Geometry of Mechanisms","author":"Hunt K. H.","year":"1978"},{"key":"e_1_2_1_5_2","unstructured":"H.McCallionandP. D.Truong \u201cThe analysis of a six\u2010degree\u2010of\u2010freedom work station for mechanized assembly \u201d Proc. of the Fifth World Congress for the Theory of Machines and Mechanisms 1979 pp.611\u2013616."},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(82)90025-8"},{"key":"e_1_2_1_7_2","unstructured":"T.Premack et al. \u201cDesign and implementation of a compliant robot with force feedback and strategy planning software \u201d NASA Technical Memorandum 86111 1984."},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3258578"},{"key":"e_1_2_1_9_2","doi-asserted-by":"crossref","unstructured":"E. F.Fichter \u201cA Stewart Platform\u2010based manipulator: General theory and practical construction \u201d Int. J. of Robotics Research 157\u2013182(1986).","DOI":"10.1177\/027836498600500216"},{"key":"e_1_2_1_10_2","first-page":"237","volume-title":"Recent Trends in Robotics: Modeling, Control and Education","author":"Nguyen C. C.","year":"1986"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"K.Sugimoto \u201cKinematic and dynamic analysis of parallel manipulators by means of motor algebra \u201d ASME J. of Mechanisms Transmissions and Automation in Design 1\u20135(1986).","DOI":"10.1115\/1.3258783"},{"key":"e_1_2_1_12_2","first-page":"177","volume-title":"Robotics and Manufacturing: Recent Trends in Research, Education, and Application","author":"Nguyen C. C.","year":"1988"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060604"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3153039"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/0378-3804(89)90038-7"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1016\/0921-8890(89)90022-5"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.59354"},{"key":"e_1_2_1_18_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.56660"},{"key":"e_1_2_1_19_2","first-page":"9","article-title":"Learning\u2010based control of a closed\u2010kinematic chain robot end\u2010effector performing repetitive tasks","volume":"9","author":"Nguyen C. C.","year":"1990","journal-title":"Int. J. of Microcomputer Applications"},{"key":"e_1_2_1_20_2","first-page":"293","volume-title":"Robotics and Manufacturing, Recent Trends in Research, Education, and Applications","author":"Reboulet C.","year":"1990"},{"key":"e_1_2_1_21_2","doi-asserted-by":"crossref","unstructured":"C. C.Nguyen Z. L.Zhou S. S.Antrazi andC. E.Campbell \u201cExperimental study of motion control and trajectory planning for a Stewart platform robot manipulator \u201d Proc. of the IEEE International Conf. on Robotics and Automation Sacramento CA 1991 pp.1873\u20131878.","DOI":"10.1109\/ROBOT.1991.131898"},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1016\/0045-7906(91)90035-X"},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/0736-5845(92)90008-T"},{"key":"e_1_2_1_24_2","article-title":"Analysis and experimentation of a Stewart platform\u2010based force\/torque sensor","volume":"7","author":"Nguyen C. C.","year":"1992","journal-title":"Int. J. of Robotics and Automation"},{"key":"e_1_2_1_25_2","volume-title":"Adaptive Control: The Model Reference Approach","author":"Landau Y. D.","year":"1979"},{"key":"e_1_2_1_26_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143844"},{"key":"e_1_2_1_27_2","first-page":"148","article-title":"Virtual adaptive compliant control for robots","volume":"4","author":"Pourboghart F. F.","year":"1989","journal-title":"Int. J. of Robotics and Automation"},{"key":"e_1_2_1_28_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.59359"},{"key":"e_1_2_1_29_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.105391"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620100507","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620100507","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:38:14Z","timestamp":1737185894000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620100507"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1993,7]]},"references-count":28,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1993,7]]}},"alternative-id":["10.1002\/rob.4620100507"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620100507","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1993,7]]}}}