{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:17:27Z","timestamp":1737263847374,"version":"3.33.0"},"reference-count":24,"publisher":"Wiley","issue":"6","license":[{"start":{"date-parts":[[2007,3,27]],"date-time":"2007-03-27T00:00:00Z","timestamp":1174953600000},"content-version":"vor","delay-in-days":4833,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1994,1]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>The problem of a robot handling a payload typically involves pre\u2010load, load, and post\u2010load stages, and payload transitions between these stages. Although considerable work has focused on the control of robots carrying payloads, few consider the problem of load transitions\u2014one of the most important effects on system performance. This article studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot\/payload model. A control strategy is proposed that takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation. \u00a9 1994 John Wiley &amp; Sons, Inc.<\/jats:p>","DOI":"10.1002\/rob.4620110608","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T15:18:04Z","timestamp":1183735084000},"page":"541-556","source":"Crossref","is-referenced-by-count":0,"title":["The dynamic effects and compensation of load transitions in robotic systems"],"prefix":"10.1002","volume":"11","author":[{"given":"Y. D.","family":"Song","sequence":"first","affiliation":[]},{"given":"J. N.","family":"Anderson","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,27]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600305"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499000900406"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143844"},{"key":"e_1_2_1_5_2","unstructured":"Y. D.SongandJ. N.Anderson \u201cAdaptive control of a colleague\u2010like multi\u2010robot system handling a common object \u201d Proc. of the IEEE Int. Conf. on Decision and Control 1991."},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1016\/0167-6911(91)90099-Z"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.34776"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1137\/0905028"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(86)90088-1"},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"Y.WangandM. T.Mason \u201cModeling impact dynamics for robotic operations \u201d Proc. of the 1987 IEEE International Conf. on Robotics and Automation 1987 pp.678\u2013685.","DOI":"10.1109\/ROBOT.1987.1087851"},{"key":"e_1_2_1_11_2","doi-asserted-by":"crossref","unstructured":"R.VolpeandP.Khosla \u201cExperimental verification of a strategy for impact control \u201d Proc. of the 1991 IEEE International Conference on Robotics and Automation 1991 pp.1854\u20131860.","DOI":"10.1109\/ROBOT.1991.131895"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1987.289340"},{"key":"e_1_2_1_13_2","doi-asserted-by":"crossref","unstructured":"S. N.GottschlichandA. C.Kak \u201cA dynamic approach to high\u2010precision parts mating \u201d Proc. of the 1988 International Conference on Robotics and Automation 1988 pp.1246\u20131253.","DOI":"10.1109\/ROBOT.1988.12232"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1109\/37.45789"},{"key":"e_1_2_1_15_2","doi-asserted-by":"crossref","unstructured":"J. K.Mills \u201cManipulator transition to and from contact tasks: A discontinuous approach \u201d Proc. of the 1990 IEEE International Conference on Robotics and Automation 1990 pp.440\u2013446.","DOI":"10.1109\/ROBOT.1990.126017"},{"key":"e_1_2_1_16_2","doi-asserted-by":"crossref","unstructured":"L.CaiandA. A.Goldenberg \u201cRobust control of unconstrained maneuver and collision for a robot manipulator with bounded parameter uncertainty \u201d Proc. of the 1988 IEEE International Conference on Robotics and Automation 1988 pp.1010\u20131015.","DOI":"10.1109\/ROBOT.1988.12193"},{"key":"e_1_2_1_17_2","doi-asserted-by":"crossref","unstructured":"B.HoveandJ. J. E.Slotine \u201cExperiments in robotic catching \u201d Proc. of American Control Conference 1991 Vol. 1.","DOI":"10.23919\/ACC.1991.4791395"},{"volume-title":"Robot Dynamics and Control","year":"1989","author":"Spong M. W.","key":"e_1_2_1_18_2"},{"issue":"10","key":"e_1_2_1_19_2","doi-asserted-by":"crossref","first-page":"1597","DOI":"10.1109\/9.256391","article-title":"Dealing with the time\u2010varying parameter problem of robot manipulators performing path tracking tasks,","volume":"37","author":"Song Y. D.","journal-title":"IEEE Trans. on Auto. Control"},{"key":"e_1_2_1_20_2","doi-asserted-by":"crossref","unstructured":"Y. D.SongandJ. N.Anderson \u201cSystem stability and performance criteria based on generalized energy accumulation: Part I\u2014criteria development\u201d Proc. of the IEEE Int. Conf. on Control Applications 1992 pp.356\u2013361.","DOI":"10.1109\/CCA.1992.269849"},{"key":"e_1_2_1_21_2","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-65654-5"},{"key":"e_1_2_1_22_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836499101000206"},{"key":"e_1_2_1_23_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(89)90054-X"},{"volume-title":"Introduction to Robotics: Mechanics and Control","year":"1986","author":"Craig J. J.","key":"e_1_2_1_24_2"},{"key":"e_1_2_1_25_2","doi-asserted-by":"publisher","DOI":"10.1109\/41.52960"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620110608","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620110608","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:47:55Z","timestamp":1737186475000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620110608"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,1]]},"references-count":24,"journal-issue":{"issue":"6","published-print":{"date-parts":[[1994,1]]}},"alternative-id":["10.1002\/rob.4620110608"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620110608","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1994,1]]}}}