{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,18]],"date-time":"2025-10-18T23:07:05Z","timestamp":1760828825635},"reference-count":9,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2007,1,15]],"date-time":"2007-01-15T00:00:00Z","timestamp":1168819200000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2007,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In this paper, two nonlinear <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574706003201_inline2\"><jats:alt-text>$\\mathcal{H}_{\\infty}$<\/jats:alt-text><\/jats:inline-graphic> control techniques are used to solve the position control problem of underactuated cooperative manipulators. The first technique consists in representing the nonlinear system in a quasi-linear parameter varying form and the solution is given in terms of linear matrix inequalities. The second technique gives an explicit solution to the cooperative manipulators <jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mimetype=\"image\" xlink:type=\"simple\" xlink:href=\"S0263574706003201_inline2\"><jats:alt-text>$\\mathcal{H}_{\\infty}$<\/jats:alt-text><\/jats:inline-graphic> control problem. The control of the squeeze force between the manipulator end-effectors and the object is also evaluated. Results obtained from an actual cooperative manipulator, which is able to work as a fully actuated and an underactuated manipulator, are presented.<\/jats:p>","DOI":"10.1017\/s0263574706003201","type":"journal-article","created":{"date-parts":[[2007,1,15]],"date-time":"2007-01-15T18:43:29Z","timestamp":1168886609000},"page":"425-432","source":"Crossref","is-referenced-by-count":3,"title":["Nonlinear  controllers for underactuated cooperative manipulators"],"prefix":"10.1017","volume":"25","author":[{"given":"A. A. G.","family":"Siqueira","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M. H.","family":"Terra","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2007,1,15]]},"reference":[{"key":"S0263574706003201_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/9.1220"},{"key":"S0263574706003201_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2004.833626"},{"key":"S0263574706003201_ref7","unstructured":"7. Tin\u00f3s R and Terra M. H. , \u201cControl of Cooperative Manipulators with Passive Joints,\u201d Proceedings of the American Control Conference 2002, Anchorage, AK (2002) pp. 1129\u20131134."},{"key":"S0263574706003201_ref4","doi-asserted-by":"publisher","DOI":"10.1002\/(SICI)1099-1239(199611)6:9\/10<983::AID-RNC263>3.0.CO;2-C"},{"key":"S0263574706003201_ref9","volume-title":"IEEE International Conference on Decision and Control","author":"Huang","year":"1998"},{"key":"S0263574706003201_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2002.999804"},{"key":"S0263574706003201_ref5","doi-asserted-by":"publisher","DOI":"10.1080\/00207179408923085"},{"key":"S0263574706003201_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2006.872505"},{"key":"S0263574706003201_ref1","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(92)90033-C"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574706003201","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,1]],"date-time":"2019-05-01T21:55:27Z","timestamp":1556747727000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574706003201\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2007,1,15]]},"references-count":9,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2007,7]]}},"alternative-id":["S0263574706003201"],"URL":"https:\/\/doi.org\/10.1017\/s0263574706003201","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2007,1,15]]}}}