{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,28]],"date-time":"2025-10-28T10:26:21Z","timestamp":1761647181439},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1997,5,1]],"date-time":"1997-05-01T00:00:00Z","timestamp":862444800000},"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":[[1997,5]]},"abstract":"<jats:p>A link position tracking controller is formulated for an n-link, rigid,\nrevolute, serially-connected robot. The controller generates torque commands to\nthe individual robot links based on adaptive estimates of the system parameters\nand measurements of only link positions. A filtering technique, based on the\nlink position signal, is used to alleviate the need for velocity measurements. A\ncomplete development of the controller is presented along with a proof of\nsemiglobal asymptotic link position-velocity tracking performance. Experimental\nvalidation of the proposed controller on the Integrated Motion Inc. (IMI)\ntwo-link direct drive robot is also presented. Several extensions to the basic\ncontroller are described that consider the use of fixed parameter\nestimates.<\/jats:p>","DOI":"10.1017\/s0263574797000386","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"337-346","source":"Crossref","is-referenced-by-count":35,"title":["A redesigned DCAL controller without velocity\nmeasurements: theory and demonstration"],"prefix":"10.1017","volume":"15","author":[{"given":"T.","family":"Burg","sequence":"first","affiliation":[]},{"given":"D.","family":"Dawson","sequence":"additional","affiliation":[]},{"given":"P.","family":"Vedagarbha","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[1997,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000386","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,11]],"date-time":"2019-05-11T20:58:24Z","timestamp":1557608304000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000386\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1997,5]]}},"alternative-id":["S0263574797000386"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000386","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,5]]}}}