{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T18:30:39Z","timestamp":1780511439676,"version":"3.54.1"},"reference-count":41,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2011,10,8]],"date-time":"2011-10-08T00:00:00Z","timestamp":1318032000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2012,6]]},"DOI":"10.1007\/s10846-011-9632-y","type":"journal-article","created":{"date-parts":[[2011,10,7]],"date-time":"2011-10-07T19:23:59Z","timestamp":1318015439000},"page":"443-461","source":"Crossref","is-referenced-by-count":24,"title":["On the Recursive Adaptive Control for Free-floating Space Manipulators"],"prefix":"10.1007","volume":"66","author":[{"given":"Hanlei","family":"Wang","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongchun","family":"Xie","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2011,10,8]]},"reference":[{"key":"9632_CR1","doi-asserted-by":"crossref","unstructured":"Oda, M., Kibe, K., Yamagata, F.: ETS-VII, space robot in-orbit experiment satellite. In: Proceedings of the 1996 IEEE International Conference on Robotics and Automation, pp. 739\u2013744. Minneapolis, Minnesota (1996)","DOI":"10.1109\/ROBOT.1996.503862"},{"issue":"5","key":"9632_CR2","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1177\/0278364903022005003","volume":"22","author":"K Yoshida","year":"2003","unstructured":"Yoshida, K.: Engineering test satellite VII flight experiment for space robot dynamics and control: theories on laboratory test beds ten years ago, now in orbit. Int. J. Rob. Res. 22(5), 321\u2013335 (2003)","journal-title":"Int. J. Rob. Res."},{"key":"9632_CR3","doi-asserted-by":"crossref","unstructured":"Shoemaker, J., Wright, M.: Orbital express space operations architecture program. In: Proc. of SPIE, vol. 5419. Bellingham, WA (2004)","DOI":"10.1117\/12.544067"},{"key":"9632_CR4","unstructured":"Sommer, B.: On-orbit servicing of satellites (OOS) as a major application field-The TECSAS mission. In: 54th International Astronautical Congress of the International Astronautical Federation, the International Academy of Astronautics, and the International Institute of Space Law, Bremen, Germany, IAC-03-U.1.06 (2003)"},{"issue":"3","key":"9632_CR5","first-page":"211","volume":"3","author":"P Huang","year":"2006","unstructured":"Huang, P., Xu, Y., Liang, B.: Tracking trajectory planning of space manipulator for capturing operation. Int. J. Adv. Robot. Syst. 3(3), 211\u2013218 (2006)","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"3","key":"9632_CR6","first-page":"301","volume":"5","author":"W Xu","year":"2008","unstructured":"Xu, W., et al.: The Cartesian path planning of free-floating space robot using particle swarm optimization. Int. J. Adv. Robot. Syst. 5(3), 301\u2013310 (2008)","journal-title":"Int. J. Adv. Robot. Syst."},{"issue":"3","key":"9632_CR7","doi-asserted-by":"crossref","first-page":"425","DOI":"10.1017\/S0263574708004839","volume":"27","author":"W Xu","year":"2009","unstructured":"Xu, W., et al.: Autonomous target capturing of free-floating space robot: theory and experiments. Robotica 27(3), 425\u2013445 (2009)","journal-title":"Robotica"},{"key":"9632_CR8","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1016\/j.robot.2006.07.003","volume":"55","author":"I Tortopidis","year":"2007","unstructured":"Tortopidis, I., Papadopoulos, E.: On point-to-point motion planning for underactuated space manipulator systems. Robot. Auton. Syst. 55, 122\u2013131 (2007)","journal-title":"Robot. Auton. Syst."},{"key":"9632_CR9","doi-asserted-by":"crossref","first-page":"183","DOI":"10.1016\/j.actaastro.2009.05.015","volume":"66","author":"P Piersigilli","year":"2010","unstructured":"Piersigilli, P., Sharf, I., Misra, A.K.: Reactionless capture of a satellite by a two degree-of-freedom manipulator. Acta Astronaut. 66, 183\u2013192 (2010)","journal-title":"Acta Astronaut."},{"key":"9632_CR10","unstructured":"Papadopoulos, E.: On the dynamics and control of space manipulators. Ph.D. thesis, Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, Massachusetts (1990)"},{"issue":"6","key":"9632_CR11","doi-asserted-by":"crossref","first-page":"1510","DOI":"10.1016\/j.automatica.2009.02.013","volume":"45","author":"H Wang","year":"2009","unstructured":"Wang, H., Xie, Y.: Passivity based adaptive Jacobian tracking for free-floating space manipulators without using spacecraft acceleration. Automatica 45(6), 1510\u20131517 (2009)","journal-title":"Automatica"},{"key":"9632_CR12","doi-asserted-by":"crossref","first-page":"139","DOI":"10.1163\/156855304322758006","volume":"18","author":"G Hirzinger","year":"2004","unstructured":"Hirzinger, G., et al.: DLR\u2019s robotics technologies for on-orbit servicing. Adv. Robot. 18, 139\u2013174 (2004)","journal-title":"Adv. Robot."},{"issue":"6","key":"9632_CR13","doi-asserted-by":"crossref","first-page":"750","DOI":"10.1109\/70.105384","volume":"7","author":"E Papadopoulos","year":"1991","unstructured":"Papadopoulos, E., Dubowsky, S.: On the nature of control algorithms for free-floating space manipulators. IEEE Trans. Robot. Autom. 7(6), 750\u2013758 (1991)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"9632_CR14","doi-asserted-by":"crossref","first-page":"44","DOI":"10.1115\/1.2897406","volume":"115","author":"E Papadopoulos","year":"1993","unstructured":"Papadopoulos, E., Dubowsky, S.: Dynamic singularities in the control of freefloating space manipulators. ASME J. Dyn. Syst. Meas. Control 115(1), 44\u201352 (1993)","journal-title":"ASME J. Dyn. Syst. Meas. Control"},{"key":"9632_CR15","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1115\/1.2801316","volume":"120","author":"B Liang","year":"1998","unstructured":"Liang, B., Xu, Y., Bergerman, M.: Mapping a space manipulator to a dynamically equivalent manipulator. J. Dyn. Syst. Meas. Control 120, 1\u20137 (1998)","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"9632_CR16","doi-asserted-by":"crossref","first-page":"564","DOI":"10.1115\/1.2098894","volume":"127","author":"PM Pathak","year":"2005","unstructured":"Pathak, P.M., Mukherjee, A., Dasgupta, A.: Impedance control of space robots using passive degrees of freedom in controller domain. J. Dyn. Syst. Meas. Control 127, 564\u2013578 (2005)","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"9632_CR17","doi-asserted-by":"crossref","unstructured":"Gu, Y.L., Xu, Y.: A normal form augmentation approach to adaptive control of space robot systems. In: Proceedings of IEEE Conf. on Robotics and Automation, pp. 731\u2013737. Atlanta, GA (1993)","DOI":"10.1109\/ROBOT.1993.291872"},{"key":"9632_CR18","doi-asserted-by":"crossref","unstructured":"Sanner, R.M., Vance, E.E.: Adaptive control of free-floating space robots using \u201cNeural\u201d networks. In: Proceedings of the American Control Conference, pp. 2790\u20132694. Seattle, Washington (1995)","DOI":"10.1109\/ACC.1995.532358"},{"key":"9632_CR19","doi-asserted-by":"crossref","unstructured":"Taveira, T.F.P.A., Siqueira, A.A.G., Terra, M.H.: Adaptive nonlinear H\u2009\u221e\u2009 controllers applied to a free-floating space manipulator. In: Proceedings of the IEEE International Conference on Control Applications, pp. 1476\u20131481. Munich, Germany (2006)","DOI":"10.1109\/CCA.2006.286094"},{"issue":"1","key":"9632_CR20","doi-asserted-by":"crossref","first-page":"156","DOI":"10.2514\/2.4212","volume":"21","author":"L Ehrenwald","year":"1998","unstructured":"Ehrenwald, L., Guelman, M.: Integrated adaptive control of space manipulators. J. Guid. Control Dyn. 21(1), 156\u2013163 (1998)","journal-title":"J. Guid. Control Dyn."},{"issue":"6","key":"9632_CR21","doi-asserted-by":"crossref","first-page":"828","DOI":"10.1109\/70.105391","volume":"7","author":"MW Walker","year":"1991","unstructured":"Walker, M.W., Wee, L.-B.: Adaptive control of space-based robot manipulators. IEEE Trans. Robot. Autom. 7(6), 828\u2013835 (1991)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"1","key":"9632_CR22","doi-asserted-by":"crossref","first-page":"10","DOI":"10.1109\/70.88113","volume":"6","author":"MW Walker","year":"1990","unstructured":"Walker, M.W.: Adaptive control of manipulators containing closed kinematic loops. IEEE Trans. Robot. Autom. 6(1), 10\u201319 (1990)","journal-title":"IEEE Trans. Robot. Autom."},{"issue":"2","key":"9632_CR23","doi-asserted-by":"crossref","first-page":"149","DOI":"10.1177\/027836499101000206","volume":"10","author":"G Niemeyer","year":"1991","unstructured":"Niemeyer, G., Slotine, J.J.E.: Performance in adaptive manipulator control. Int. J. Rob. Res. 10(2), 149\u2013161 (1991)","journal-title":"Int. J. Rob. Res."},{"key":"9632_CR24","first-page":"278","volume":"20","author":"W Huo","year":"1994","unstructured":"Huo, W., Gao, W., Cheng, M.: A new manipulator model and control algorithm (in Chinese). Acta Automatica Sinica 20, 278\u2013285 (1994)","journal-title":"Acta Automatica Sinica"},{"key":"9632_CR25","unstructured":"Wang, H.: On the recursive implementaion of adaptive control for robot manipulators. In: Chinese Control Conference, pp. 2154\u20132161. Beijing, China (2010)"},{"key":"9632_CR26","doi-asserted-by":"crossref","DOI":"10.1007\/978-0-387-74315-8","volume-title":"Rigid Body Dynamics Algorithm","author":"R Featherstone","year":"2008","unstructured":"Featherstone, R.: Rigid Body Dynamics Algorithm. Springer, New York, USA (2008)"},{"issue":"5","key":"9632_CR27","first-page":"6","volume":"35","author":"H Wang","year":"2009","unstructured":"Wang, H., Xie, Y.: Adaptive control scheme for the capture of a tumbling target spacecraft using free-floating space manipulators (in Chinese). Aerospace Control and Applications 35(5), 6\u201312 (2009)","journal-title":"Aerospace Control and Applications"},{"key":"9632_CR28","volume-title":"Robotics: Control, Sensing, Vision and Intelligence","author":"KS Fu","year":"1987","unstructured":"Fu, K.S., Gonzalez, R.C., Lee, C.S.G.: Robotics: Control, Sensing, Vision and Intelligence. McGraw-Hill, New York (1987)"},{"key":"9632_CR29","doi-asserted-by":"crossref","unstructured":"Xu, Y., Shum, H.-Y., Lee, J.-J., Kanade, T.: Adaptive control of space robot system with an attitude controlled base. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2005\u20132010. Nice, France (1992)","DOI":"10.1109\/ROBOT.1992.219986"},{"issue":"2","key":"9632_CR30","doi-asserted-by":"crossref","first-page":"435","DOI":"10.1109\/7.272266","volume":"30","author":"Y Xu","year":"1994","unstructured":"Xu, Y., Shum, H.-Y., Lee, J.-J., Kanade, T.: Parameterization and adaptive control of space robot systems. IEEE Trans. Aerosp. Electron. Syst. 30(2), 435\u2013451 (1994)","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"issue":"4","key":"9632_CR31","doi-asserted-by":"crossref","first-page":"509","DOI":"10.1016\/0005-1098(89)90094-0","volume":"25","author":"JJE Slotine","year":"1989","unstructured":"Slotine, J.J.E., Li, W.: Composite adaptive control of robot manipulators. Automatica 25(4), 509\u2013519 (1989)","journal-title":"Automatica"},{"key":"9632_CR32","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1016\/0167-6911(89)90058-3","volume":"12","author":"W Li","year":"1989","unstructured":"Li, W., Slotine, J.J.E.: An indirect adaptive robot controller. Syst. Control. Lett. 12, 259\u2013266 (1989)","journal-title":"Syst. Control. Lett."},{"key":"9632_CR33","volume-title":"Robust Adaptive Control","author":"PA Ioannou","year":"1997","unstructured":"Ioannou, P.A., Sun, J.: Robust Adaptive Control. Prentice Hall, Upper Saddle River, NJ (1997)"},{"issue":"4","key":"9632_CR34","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1109\/TAC.1984.1103519","volume":"29","author":"PE Crouch","year":"1984","unstructured":"Crouch, P.E.: Spacecraft attitude control and stabilization: application of geometric control theory to rigid body models. IEEE Trans. Automat. Contr. 29(4), 321\u2013331 (1984)","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"4","key":"9632_CR35","doi-asserted-by":"crossref","first-page":"842","DOI":"10.1109\/9.286266","volume":"39","author":"O Egeland","year":"1994","unstructured":"Egeland, O., Godhavn, J.-M.: Passivity based adaptive attitude control of a rigid spacecraft. IEEE Trans. Automat. Contr. 39(4), 842\u2013846 (1994)","journal-title":"IEEE Trans. Automat. Contr."},{"issue":"11","key":"9632_CR36","doi-asserted-by":"crossref","first-page":"1597","DOI":"10.1109\/9.728877","volume":"43","author":"P Tsiotras","year":"1998","unstructured":"Tsiotras, P.: Further passivity results for the attitude control problem. IEEE Trans. Automat. Contr. 43(11), 1597\u20131600 (1998)","journal-title":"IEEE Trans. Automat. Contr."},{"key":"9632_CR37","doi-asserted-by":"crossref","unstructured":"Abiko, S., Hirzinger, G.: An adaptive control for a free-floating space robot by using inverted chain approach. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2236\u20132241. California, USA (2007)","DOI":"10.1109\/IROS.2007.4399007"},{"key":"9632_CR38","doi-asserted-by":"crossref","unstructured":"Abiko, S., Hirzinger, G.: Adaptive control for a torque controlled free-floating space robot with kinematic and dynamic model uncertainty. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2359\u20132364. St. Louis, USA (2009)","DOI":"10.1109\/IROS.2009.5354601"},{"key":"9632_CR39","doi-asserted-by":"crossref","unstructured":"Oki, T., Nakanishi, H., Yoshida, K.: Whole-body motion control for capturing a tumbling target by a free-floating space robot. In: Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2256\u20132261. California, USA (2007)","DOI":"10.1109\/IROS.2007.4399591"},{"key":"9632_CR40","doi-asserted-by":"crossref","unstructured":"Oki, T., Nakanishi, H., Yoshida, K.: Time-optimal manipulator control of a free-floating space robot with constraint on reaction torque. In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 2828\u20132833. Nice, France (2008)","DOI":"10.1109\/IROS.2008.4650835"},{"key":"9632_CR41","doi-asserted-by":"crossref","unstructured":"Wang, H., Xie, Y.: On the uniform positive definiteness of the estimated inertia for robot manipulators. In: 18th IFAC World Congress, pp. 4089\u20134094. Milano, Italy (2011)","DOI":"10.3182\/20110828-6-IT-1002.00827"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-011-9632-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/article\/10.1007\/s10846-011-9632-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-011-9632-y","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,12]],"date-time":"2025-03-12T16:04:50Z","timestamp":1741795490000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/s10846-011-9632-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,10,8]]},"references-count":41,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2012,6]]}},"alternative-id":["9632"],"URL":"https:\/\/doi.org\/10.1007\/s10846-011-9632-y","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,10,8]]}}}