{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,18]],"date-time":"2025-11-18T09:14:00Z","timestamp":1763457240831},"reference-count":8,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2010,8,16]],"date-time":"2010-08-16T00:00:00Z","timestamp":1281916800000},"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":[[2011,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>The <jats:italic>generalized Jacobian matrix<\/jats:italic> was introduced for dealing with end-effector control in space robots. One of the applications of this Jacobian is to be used in <jats:italic>Jacobian transpose control<\/jats:italic> to generate joint torques given end-effector position error. It would be misleading, however, to consider the transpose of this Jacobian as a mapping from end-effector force\/moment to controlled joint torques for underactuated systems or floating base robots. This paper explains why it does not represent the mapping and provides a simple example. Later, the correct mapping is provided using the dynamically consistent Jacobian inverse and then a method to compute the actuated-joint torques is explained given the desired end-effector force. Finally, the effect of using the generalized Jacobian in the Jacobian transpose control is analyzed.<\/jats:p>","DOI":"10.1017\/s0263574710000391","type":"journal-article","created":{"date-parts":[[2010,8,16]],"date-time":"2010-08-16T11:02:21Z","timestamp":1281956541000},"page":"581-584","source":"Crossref","is-referenced-by-count":12,"title":["The relationship between controlled joint torque and end-effector force in underactuated robotic systems"],"prefix":"10.1017","volume":"29","author":[{"given":"Jaeheung","family":"Park","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2010,8,16]]},"reference":[{"key":"S0263574710000391_ref4","first-page":"1718","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Sentis","year":"2005"},{"key":"S0263574710000391_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/70.246052"},{"key":"S0263574710000391_ref5","doi-asserted-by":"publisher","DOI":"10.1109\/70.258046"},{"key":"S0263574710000391_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/70.105384"},{"key":"S0263574710000391_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"S0263574710000391_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/70.34766"},{"key":"S0263574710000391_ref7","first-page":"1963","volume-title":"Proceedings of the International Conference on Robotics and Automation","author":"Park","year":"2006"},{"key":"S0263574710000391_ref3","volume-title":"Space Robotics: Dynamics and Control","author":"Xu","year":"1992"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574710000391","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,27]],"date-time":"2019-04-27T07:51:12Z","timestamp":1556351472000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574710000391\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2010,8,16]]},"references-count":8,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2011,7]]}},"alternative-id":["S0263574710000391"],"URL":"https:\/\/doi.org\/10.1017\/s0263574710000391","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2010,8,16]]}}}