{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,17]],"date-time":"2026-04-17T14:31:37Z","timestamp":1776436297900,"version":"3.51.2"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2001,1,12]],"date-time":"2001-01-12T00:00:00Z","timestamp":979257600000},"content-version":"unspecified","delay-in-days":11,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2001,1]]},"abstract":"<jats:p>One of the \nsimplest and natural appealing motion control strategies for robot manipulators \nis the PD control with feedforward compensation. Although successful experimental \ntests of this control scheme have been published since the \nbeginning of the eighties, the proof of global asymptotic stability \nhas remained unattended until now. The contribution of this paper \nis to prove that global asymptotic stability can be guaranteed \nprovided that the proportional and derivative gains are adequately selected. \nThe performance of the PD control with feedforward compensation evaluated \non a two degrees-of-freedom direct-drive arm appears as fine as \nthe classical model-based computed torque control scheme.<\/jats:p>","DOI":"10.1017\/s0263574700002848","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:39:16Z","timestamp":1027777156000},"page":"11-19","source":"Crossref","is-referenced-by-count":69,"title":["PD control with feedforward compensation for robot manipulators: analysis and \nexperimentation"],"prefix":"10.1017","volume":"19","author":[{"given":"Victor","family":"Santiba\u00f1ez","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rafael","family":"Kelly","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2001,1,12]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700002848","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,7]],"date-time":"2019-04-07T18:50:59Z","timestamp":1554663059000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700002848\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2001,1]]},"references-count":0,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2001,1]]}},"alternative-id":["S0263574700002848"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700002848","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2001,1]]}}}