{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,19]],"date-time":"2025-01-19T05:18:17Z","timestamp":1737263897402,"version":"3.33.0"},"reference-count":11,"publisher":"Wiley","issue":"11","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":4150,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1995,11]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article deals with the control of a robot manipulator performing constrained motion in an environment where the constraint function contains uncertainties. The uncertainties are appropriately modeled, and a controller consisting two components, one for positional and velocity tracking, and the other for force regulation, is proposed. The controller contains a nonlinear term that takes the form of a polynomial in the norms of the trajectory and force errors. The coefficients of the nonlinear function are chosen in relation to the bounds on the dynamic parameters of the robot system and an estimate of the bound on the uncertainty in the constraint function. Simulation results show that the modeling is appropriate and the controller is robust against parameter uncertainties \u00a9<jats:italic>1995 John Wiley &amp; Sons, Inc.<\/jats:italic><\/jats:p>","DOI":"10.1002\/rob.4620121104","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T16:54:33Z","timestamp":1183740873000},"page":"747-755","source":"Crossref","is-referenced-by-count":4,"title":["Robust contorl of a mamipulator pefoming constrained motion with uncertainties in the constraint"],"prefix":"10.1002","volume":"12","author":[{"given":"Yeons Khing","family":"Ho","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danwei","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yens Chai","family":"Son","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":"crossref","unstructured":"R. K.KankaanrantaandH. N.Koivo \u201cStability analysis of position\u2010force control using linearized cartesian space model \u201dIFAC Symp. Rob. Contral Karlsruhe October1988.","DOI":"10.1016\/S1474-6670(17)54618-2"},{"key":"e_1_2_1_3_2","doi-asserted-by":"crossref","unstructured":"T.Yoshikawa \u201cDynamics hybrid position\/force con trol of robot manipulators\u2014Description of hand con straints and calculation of joint driving forces \u201dProc. IEEE Conf. Rob Autom. San Francisco CA 1986.","DOI":"10.1109\/JRA.1987.1087120"},{"key":"e_1_2_1_4_2","doi-asserted-by":"crossref","unstructured":"N. H.McClamroch \u201cSingular systems of differential equations as dynamic models for constrained robot systems \u201dProc. IEEE Conf. Rob. Autom. San Francisco 1986.","DOI":"10.1109\/ROBOT.1986.1087712"},{"key":"e_1_2_1_5_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.1220"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.240200"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/70.88015"},{"key":"e_1_2_1_8_2","doi-asserted-by":"crossref","DOI":"10.1016\/S1474-6670(17)48744-1","volume-title":"Principle of orthogonalization for hybrid control of robot arms","author":"Arimoto S.","year":"1993"},{"key":"e_1_2_1_9_2","unstructured":"T. J.Tarn K.De Prasanta andA. K.Bejczy \u201cConstrained motions and the analysis of the dynamic ability of manipulators \u201dProc. IROS '94 1994."},{"key":"e_1_2_1_10_2","doi-asserted-by":"crossref","unstructured":"D.Wang C.Wen andY.Wang \u201cTwo nonlinear robot controllers for robust path tracking \u201dProc. Am. Control Conf. San Francisco June1993.","DOI":"10.23919\/ACC.1993.4793344"},{"volume-title":"Adaptive Control of Mechanical Manipulators","year":"1988","author":"Craig J. J.","key":"e_1_2_1_11_2"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1109\/9.83543"}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620121104","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620121104","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T07:49:21Z","timestamp":1737186561000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620121104"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1995,11]]},"references-count":11,"journal-issue":{"issue":"11","published-print":{"date-parts":[[1995,11]]}},"alternative-id":["10.1002\/rob.4620121104"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620121104","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"type":"print","value":"0741-2223"},{"type":"electronic","value":"1097-4563"}],"subject":[],"published":{"date-parts":[[1995,11]]}}}