{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,8]],"date-time":"2026-01-08T08:25:49Z","timestamp":1767860749707,"version":"3.49.0"},"reference-count":38,"publisher":"Springer Science and Business Media LLC","issue":"3","license":[{"start":{"date-parts":[[2024,8,1]],"date-time":"2024-08-01T00:00:00Z","timestamp":1722470400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"},{"start":{"date-parts":[[2024,8,1]],"date-time":"2024-08-01T00:00:00Z","timestamp":1722470400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"DOI":"10.1007\/s10846-024-02135-x","type":"journal-article","created":{"date-parts":[[2024,8,1]],"date-time":"2024-08-01T16:02:14Z","timestamp":1722528134000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["A Novel Recursive Algorithm for the Implementation of Adaptive Robot Controllers"],"prefix":"10.1007","volume":"110","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-3174-9394","authenticated-orcid":false,"given":"Mertcan","family":"Kaya","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7199-8515","authenticated-orcid":false,"given":"Mehmet Ali","family":"Akbulut","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5539-9504","authenticated-orcid":false,"given":"Zeki Yagiz","family":"Bayraktaroglu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1511-9381","authenticated-orcid":false,"given":"Kolja","family":"K\u00fchnlenz","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,8,1]]},"reference":[{"key":"2135_CR1","unstructured":"Khalil, W., Dombre, E.: Modeling, Identification and Control of Robots, Kogan Page Science paper edition Modeling, identification & control of robots. Elsevier Science (2004)"},{"key":"2135_CR2","doi-asserted-by":"crossref","unstructured":"Craig, J., Hsu, P., Sastry, S.: Adaptive control of mechanical manipulators, Proceedings. 1986 IEEE International Conference on Robotics and Automation, vol. 3, pp. 190-195 (1986)","DOI":"10.1109\/ROBOT.1986.1087661"},{"issue":"3","key":"2135_CR3","doi-asserted-by":"publisher","first-page":"49","DOI":"10.1177\/027836498700600303","volume":"6","author":"J-JE Slotine","year":"1987","unstructured":"Slotine, J.-J.E., Li, W.: On the adaptive control of robot manipulators. Int. J. Robot. Res. 6(3), 49\u201359 (1987)","journal-title":"Int. J. Robot. Res."},{"key":"2135_CR4","doi-asserted-by":"crossref","unstructured":"Sadegh, N., Horowitz, R.: Stability analysis of an adaptive controller for robotic manipulators, Proceedings. 1987 IEEE International Conference on Robotics and Automation, vol. 4, pp. 1223\u20131229 (1987)","DOI":"10.1109\/ROBOT.1987.1087747"},{"key":"2135_CR5","doi-asserted-by":"crossref","unstructured":"Slotine, J.-J.E., Li, W.: Adaptive robot control: A new perspective. 26th IEEE Conference on Decision and Control, vol. 26, pp. 192\u2013198 (1987)","DOI":"10.1109\/CDC.1987.272740"},{"key":"2135_CR6","doi-asserted-by":"crossref","unstructured":"Ortega, R., Spong, M.: Adaptive motion control of rigid robots: a tutorial. Proceedings of the 27th IEEE Conference on Decision and Control, pp. 1575\u20131584, vol. 2 (1988)","DOI":"10.1109\/CDC.1988.194594"},{"issue":"4","key":"2135_CR7","doi-asserted-by":"publisher","first-page":"618","DOI":"10.1115\/1.2896187","volume":"112","author":"N Sadegh","year":"1990","unstructured":"Sadegh, N., Horowitz, R., Kao, W.-W., Tomizuka, M.: A Unified Approach to the Design of Adaptive and Repetitive Controllers for Robotic Manipulators. J. Dyn. Syst. Meas. Control 112(4), 618\u2013629 (1990)","journal-title":"J. Dyn. Syst. Meas. Control"},{"issue":"6","key":"2135_CR8","doi-asserted-by":"publisher","first-page":"825","DOI":"10.1109\/70.265925","volume":"9","author":"H Berghuis","year":"1993","unstructured":"Berghuis, H., Ortega, R., Nijmeijer, H.: A robust adaptive robot controller. IEEE Trans. Robot. Autom. 9(6), 825\u2013830 (1993)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2135_CR9","doi-asserted-by":"publisher","first-page":"235","DOI":"10.1007\/BF01276500","volume":"9","author":"D Kati\u0107","year":"1994","unstructured":"Kati\u0107, D., Vukobratovi\u0107, M.: Contribution to the indirect decentralized adaptive control of manipulation robots. J. Intell. Robot. Syst. 9, 235\u2013271 (1994)","journal-title":"J. Intell. Robot. Syst."},{"key":"2135_CR10","doi-asserted-by":"crossref","unstructured":"Shen, D., Tang, L., Hu, Q., Guo, C., Li, X., Zhang, J.: Space manipulator trajectory tracking based on recursive decentralized finite-time control. Aerosp. Sci. Technol. 102 (2020)","DOI":"10.1016\/j.ast.2020.105870"},{"key":"2135_CR11","doi-asserted-by":"crossref","unstructured":"Walker, M.: An efficient algorithm for the adaptive control of a manipulator. Proceedings. 1988 IEEE International Conference on Robotics and Automation, pp. 682-690, vol. 2 (1988)","DOI":"10.1109\/ROBOT.1988.12138"},{"issue":"1","key":"2135_CR12","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1109\/70.88113","volume":"6","author":"M Walker","year":"1990","unstructured":"Walker, M.: Adaptive control of manipulators containing closed kinematic loops. IEEE Trans. Robot. Autom. 6(1), 10\u201319 (1990)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2135_CR13","doi-asserted-by":"crossref","unstructured":"Walker, M.: Computational scheme for passivity based control of mechanical manipulators. Proceedings 1992 IEEE International Conference on Robotics and Automation, pp. 1976\u20131985, vol. 3 (1992)","DOI":"10.1109\/ROBOT.1992.219940"},{"issue":"2","key":"2135_CR14","doi-asserted-by":"publisher","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. Robot. Res. 10(2), 149\u2013161 (1991)","journal-title":"Int. J. Robot. Res."},{"issue":"3","key":"2135_CR15","doi-asserted-by":"publisher","first-page":"496","DOI":"10.1109\/70.499832","volume":"12","author":"H Kawasaki","year":"1996","unstructured":"Kawasaki, H., Bito, T., Kanzaki, K.: \"An efficient algorithm for the model-based adaptive control of robotic manipulators. IEEE Trans. Robot. Autom. 12(3), 496\u2013501 (1996)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2135_CR16","doi-asserted-by":"crossref","unstructured":"Kawasaki, H., Mochizuki, S., Kanzaki, K.: An efficient computational algorithm for adaptive manipulator control. IFAC Proceedings Volumes 26 (2, Part 1), pp. 459-462, 12th Trien- nal Wold Congress of the International Federation of Automatic control. Volume 1 Theory, Sydney, Australia (1993)","DOI":"10.1016\/S1474-6670(17)49166-X"},{"key":"2135_CR17","doi-asserted-by":"crossref","unstructured":"Kawasaki, H., Nishimura, K.: Terminal-link parameter estimation and trajectory control of robotic manipulators. IFAC Proceedings Volumes 18(16) pp. 49-54. 1st IFAC Symposium on Robot Control (SYROCO \u201985), Barcelona, Spain\u2019 (1985)","DOI":"10.1016\/S1474-6670(17)59934-6"},{"key":"2135_CR18","doi-asserted-by":"crossref","unstructured":"Bukkems, B., Kosti\u0107, D., de Jager, B., Steinbuch, M.: Online identification of a robot using batch adaptive control. IFAC Proceedings Volumes 36 (16), pp. 921-926. 13th IFAC Symposium on System Identification (SYSID 2003), Rotterdam, The Netherlands (2003)","DOI":"10.1016\/S1474-6670(17)34878-4"},{"issue":"10","key":"2135_CR19","doi-asserted-by":"publisher","first-page":"8112","DOI":"10.1109\/TIE.2018.2803773","volume":"65","author":"C Yang","year":"2018","unstructured":"Yang, C., Jiang, Y., He, W., Na, J., Li, Z., Xu, B.: Adaptive parameter estimation and control design for robot manipulators with finite-time convergence. IEEE Trans. Ind. Electron. 65(10), 8112\u20138123 (2018)","journal-title":"IEEE Trans. Ind. Electron."},{"key":"2135_CR20","doi-asserted-by":"crossref","unstructured":"Lu, W.-S., Meng, Q.-H.: Recursive computation of manipulator regressor and its application to adaptive motion control of robots. IEEE Pacific Rim Conference on Communications, Computers and Signal Processing Conference Proceedings, pp. 170\u2013173, vol. 1 (1991)","DOI":"10.1109\/PACRIM.1991.160708"},{"issue":"3","key":"2135_CR21","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1109\/70.240203","volume":"9","author":"W-S Lu","year":"1993","unstructured":"Lu, W.-S., Meng, Q.-H.: Regressor formulation of robot dynamics: computation and applications. IEEE Trans. Robot. Autom. 9(3), 323\u2013333 (1993)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"2135_CR22","doi-asserted-by":"crossref","unstructured":"Yuan, J., Yuan, B.: Recursive computation of the Slotine-Li regressor. Proceedings of 1995 American Control Conference - ACC\u201995, vol. 3, pp. 2327\u20132331 (1995)","DOI":"10.1109\/ACC.1995.531387"},{"key":"2135_CR23","doi-asserted-by":"publisher","first-page":"269","DOI":"10.1017\/S0263574700008006","volume":"10","author":"J Yuan","year":"1992","unstructured":"Yuan, J., Stepenanko, Y.: Computing a manipulator regressor without acceleration feedback. Robotica 10, 269\u2013275 (1992)","journal-title":"Robotica"},{"issue":"3","key":"2135_CR24","doi-asserted-by":"publisher","first-page":"101","DOI":"10.1177\/027836498600500306","volume":"5","author":"CG Atkeson","year":"1986","unstructured":"Atkeson, C.G., An, C.H., Hollerbach, J.M.: Estimation of inertial parameters of manipulator loads and links. Int. J. Robot. Res. 5(3), 101\u2013119 (1986)","journal-title":"Int. J. Robot. Res."},{"key":"2135_CR25","first-page":"3359","volume":"2009","author":"A De Luca","year":"2009","unstructured":"De Luca, A., Ferrajoli, L.: A modified Newton-Euler method for dynamic computations in robot fault detection and control. IEEE Int. Conf. Robot. Autom. 2009, 3359\u20133364 (2009)","journal-title":"IEEE Int. Conf. Robot. Autom."},{"key":"2135_CR26","unstructured":"Wang, H.: On the recursive implementation of adaptive control for robot manipulators. Proceedings of the 29th Chinese Control Conference, pp. 2154\u20132161 (2010)"},{"key":"2135_CR27","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1007\/s10846-011-9632-y","volume":"66","author":"H Wang","year":"2012","unstructured":"Wang, H., Xie, Y.: On the recursive adaptive control for free-floating space manipulators. J. Intell. Robot. Syst. 66, 443\u2013461 (2012)","journal-title":"J. Intell. Robot. Syst."},{"key":"2135_CR28","volume-title":"Springer Handbook of Robotics","author":"B Siciliano","year":"2007","unstructured":"Siciliano, B., Khatib, O.: Springer Handbook of Robotics. Springer-Verlag, Berlin, Heidelberg (2007)"},{"key":"2135_CR29","volume-title":"Robot Dynamics and Control","author":"MW Spong","year":"1989","unstructured":"Spong, M.W.: Robot Dynamics and Control, 1st edn. John Wiley Sons Inc, USA (1989)","edition":"1"},{"key":"2135_CR30","volume-title":"Robotics: Modelling, Planning and Control","author":"B Siciliano","year":"2008","unstructured":"Siciliano, B., Sciavicco, L., Villani, L., Oriolo, G.: Robotics: Modelling, Planning and Control, 1st edn. Springer Publishing Company, Incorporated (2008)","edition":"1"},{"issue":"2","key":"2135_CR31","doi-asserted-by":"publisher","first-page":"60","DOI":"10.1177\/027836498200100204","volume":"1","author":"WM Silver","year":"1982","unstructured":"Silver, W.M.: On the equivalence of Lagrangian and Newton-Euler dynamics for manipulators. Int. J. Robot. Res. 1(2), 60\u201370 (1982)","journal-title":"Int. J. Robot. Res."},{"issue":"2","key":"2135_CR32","doi-asserted-by":"publisher","first-page":"69","DOI":"10.1115\/1.3149599","volume":"102","author":"JYS Luh","year":"1980","unstructured":"Luh, J.Y.S., Walker, M.W., Paul, R.P.C.: On-Line Computational Scheme for Mechanical Manipulators. J. Dyn. Syst. Meas. Control 102(2), 69\u201376 (1980)","journal-title":"J. Dyn. Syst. Meas. Control"},{"key":"2135_CR33","doi-asserted-by":"crossref","unstructured":"Huang, A.-C., Chien, M.-C.: Adaptive Control of Robot Manipulators: A Unified Regressor-Free Approach. World Scientific Publishing Company (2010)","DOI":"10.1142\/9789814307420"},{"key":"2135_CR34","volume-title":"Applied Nonlinear Control","author":"JE Slotine","year":"1991","unstructured":"Slotine, J.E., Li, W.: Applied Nonlinear Control. Prentice-Hall, Englewood Cliffs, NJ (1991)"},{"key":"2135_CR35","doi-asserted-by":"crossref","unstructured":"Hyatt, P., Johnson, C.C., Killpack, M.D.: Model Reference Predictive Adaptive Control for Large-Scale Soft Robots. Frontiers in Robotics and AI, vol. 7 (2020)","DOI":"10.3389\/frobt.2020.558027"},{"issue":"2","key":"2135_CR36","doi-asserted-by":"publisher","first-page":"501","DOI":"10.1109\/JAS.2023.123213","volume":"10","author":"Y Yang","year":"2023","unstructured":"Yang, Y., Han, J., Liu, Z., Zhao, Z., Hong, K.-S.: Modeling and Adaptive Neural Network Control for a Soft Robotic Arm With Prescribed Motion Constraints. IEEE\/CAA J. Autom. Sin. 10(2), 501\u2013511 (2023)","journal-title":"IEEE\/CAA J. Autom. Sin."},{"key":"2135_CR37","doi-asserted-by":"crossref","unstructured":"Diao, S., Sun, W., Su, S.-F., Zhao, X., Xu, N.: Novel Adaptive Control for Flexible-Joint Robots With Unknown Measurement Sensitivity. IEEE Trans. Autom. Sci. Eng. (2023)","DOI":"10.1109\/TASE.2023.3248178"},{"key":"2135_CR38","doi-asserted-by":"crossref","unstructured":"Gautier, M., Khalil, W.: Identification of the minimum inertial parameters of robots. Proc. Int. Conf. Robot. Autom. 3, 1529\u20131534 (1989)","DOI":"10.1109\/ROBOT.1989.100196"}],"container-title":["Journal of Intelligent & Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02135-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-024-02135-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-024-02135-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,26]],"date-time":"2024-09-26T13:13:45Z","timestamp":1727356425000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-024-02135-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,1]]},"references-count":38,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2024,9]]}},"alternative-id":["2135"],"URL":"https:\/\/doi.org\/10.1007\/s10846-024-02135-x","relation":{},"ISSN":["1573-0409"],"issn-type":[{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,1]]},"assertion":[{"value":"12 March 2023","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 June 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 August 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflicts of interest to disclose.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest\/Competing interests"}}],"article-number":"115"}}