{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,6]],"date-time":"2026-05-06T00:05:00Z","timestamp":1778025900728,"version":"3.51.4"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"3","license":[{"start":{"date-parts":[[1999,5,1]],"date-time":"1999-05-01T00:00:00Z","timestamp":925516800000},"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":[[1999,5]]},"abstract":"<jats:p>Transpose Jacobian-based controllers represent \nan attractive approach to robot control in Cartesian space. These \ncontrollers attempt to drive the robot end-effector posture to a \nspecified desired position and orientation without solving either the inverse \nkinematics nor computing the robot inverse Jacobian. A wide class \nof transpose Jacobian-based regulators obtained from the energy shaping plus \ndamping injection technique is analyzed in this paper. Our main \ntheoretical contribution is the introduction of a novel analysis which \ndoes not invoke any assumption on Jacobian singularities to ensure \nlocal asymptotic stability for a family of nonredundant robots. The \nperformance of four transpose Jacobian-based regulators is illustrated via experimental \ntests conducted on a direct-drive vertical arm.<\/jats:p>","DOI":"10.1017\/s0263574799001198","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T13:36:08Z","timestamp":1027776968000},"page":"303-312","source":"Crossref","is-referenced-by-count":18,"title":["Analysis and Experimentation of Transpose Jacobian-based Cartesian Regulators"],"prefix":"10.1017","volume":"17","author":[{"given":"Rafael","family":"Kelly","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Angel","family":"Coello","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1999,5,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574799001198","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,9]],"date-time":"2019-05-09T21:26:55Z","timestamp":1557437215000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574799001198\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1999,5]]},"references-count":0,"journal-issue":{"issue":"3","published-print":{"date-parts":[[1999,5]]}},"alternative-id":["S0263574799001198"],"URL":"https:\/\/doi.org\/10.1017\/s0263574799001198","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1999,5]]}}}