{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T10:39:11Z","timestamp":1761647951130},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"1","license":[{"start":{"date-parts":[[2012,4,20]],"date-time":"2012-04-20T00:00:00Z","timestamp":1334880000000},"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":[[2013,1]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Among the many challenges to deal with, when a robot is interacting with its environment, friction at the contact surface and\/or at the joints is one of the most important to be considered. In this paper we propose a control algorithm for the tracking of position and force (unconstrained orientation case only) of a manipulator end-effector that does not require the robot model for implementation. This characteristic has the advantage of making it capable to compensate friction effects without any previous estimation. Furthermore, no velocity measurements are needed, and the unit quaternion is employed for orientation control. Experimental and simulation results are provided.<\/jats:p>","DOI":"10.1017\/s026357471200015x","type":"journal-article","created":{"date-parts":[[2012,4,20]],"date-time":"2012-04-20T14:56:45Z","timestamp":1334933805000},"page":"149-171","source":"Crossref","is-referenced-by-count":17,"title":["Robot force control without dynamic model: theory and experiments"],"prefix":"10.1017","volume":"31","author":[{"given":"Juan C.","family":"Rivera-Due\u00f1as","sequence":"first","affiliation":[]},{"given":"Marco A.","family":"Arteaga-P\u00e9rez","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2012,4,20]]},"reference":[{"key":"S026357471200015X_ref19","unstructured":"A. M. Castillo S\u00e1nchez , \u201cAdaptaci\u00f3n de Dos Robots Industriales Para su Utilizaci\u00f3n en el Desarrollo de Nuevas T\u00e9cnicas y Algoritmos de Control,\u201d Bachelor's Degree Thesis (ENEP, Universidad Nacional Aut\u00f3noma de M\u00e9xico, Mexico, 2002)."},{"key":"S026357471200015X_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704001213"},{"key":"S026357471200015X_ref17","unstructured":"J. C. Mart\u00ednez-Rosas , \u201cIdentificaci\u00f3n Param\u00e9trica de un Robot Industrial con Diferentes Esquemas de Control Adaptable,\u201d Master's Degree Thesis (Universidad Veracruzana, Instituto de Ingenier\u00eda, Veracruz, Veracruz, Mexico, 2002)."},{"key":"S026357471200015X_ref16","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2009.2027115"},{"key":"S026357471200015X_ref15","first-page":"650","volume-title":"Proceedings of the 8th World Congress on Intelligent Control and Automation","author":"Jung","year":"2010"},{"key":"S026357471200015X_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.11.004"},{"key":"S026357471200015X_ref10","first-page":"4385","volume-title":"Proceedings of the CD ROM, European Control Conference ECC07","author":"Arteaga-P\u00e9rez","year":"2007"},{"key":"S026357471200015X_ref8","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"S026357471200015X_ref11","doi-asserted-by":"publisher","DOI":"10.1023\/A:1013987209547"},{"key":"S026357471200015X_ref13","volume-title":"Nonlinear Systems","author":"Khalil","year":"2002"},{"key":"S026357471200015X_ref14","volume-title":"A Mathematical Introduction to Robotic Manipulation","author":"Murray","year":"1994"},{"key":"S026357471200015X_ref1","doi-asserted-by":"publisher","DOI":"10.1017\/S026357479700057X"},{"key":"S026357471200015X_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364902021009877"},{"key":"S026357471200015X_ref7","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2005.10.007"},{"key":"S026357471200015X_ref3","first-page":"220","volume-title":"Proceedings of the IEEE International Conference on Robotics and Automation","author":"Yoshikawa","year":"2000"},{"key":"S026357471200015X_ref4","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-0449-0"},{"key":"S026357471200015X_ref2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4615-4431-9"},{"key":"S026357471200015X_ref5","first-page":"618","volume-title":"IFAC 13th Triennial World Congress","author":"Liu","year":"1996"},{"key":"S026357471200015X_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1996.506548"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357471200015X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,24]],"date-time":"2019-04-24T20:26:32Z","timestamp":1556137592000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357471200015X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4,20]]},"references-count":19,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2013,1]]}},"alternative-id":["S026357471200015X"],"URL":"https:\/\/doi.org\/10.1017\/s026357471200015x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,4,20]]}}}