{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,4]],"date-time":"2026-04-04T18:12:39Z","timestamp":1775326359142,"version":"3.50.1"},"reference-count":40,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2012,8,1]],"date-time":"2012-08-01T00:00:00Z","timestamp":1343779200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Trans. Robot."],"published-print":{"date-parts":[[2012,8]]},"DOI":"10.1109\/tro.2012.2187397","type":"journal-article","created":{"date-parts":[[2012,3,13]],"date-time":"2012-03-13T18:03:01Z","timestamp":1331661781000},"page":"773-786","source":"Crossref","is-referenced-by-count":32,"title":["Enhanced Operational Space Formulation for Multiple Tasks by Using Time-Delay Estimation"],"prefix":"10.1109","volume":"28","author":[{"given":"Pyung Hun","family":"Chang","sequence":"first","affiliation":[]},{"given":"Jae Won","family":"Jeong","sequence":"additional","affiliation":[]}],"member":"263","reference":[{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/9.847728"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2009.2024097"},{"key":"ref33","first-page":"337","article-title":"Motion\/force redundancy of manipulators","volume":"1","author":"khatib","year":"1990","journal-title":"Proc JapanUSA Symp Flexible Autom"},{"key":"ref32","year":"0"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1177\/0278364909357644"},{"key":"ref30","author":"golub","year":"1996","journal-title":"Matrix Computations"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1007\/BF01211647"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1080\/0020717031000149636"},{"key":"ref35","doi-asserted-by":"crossref","first-page":"2745","DOI":"10.1523\/JNEUROSCI.04-11-02745.1984","article-title":"An organizing principle for a class of voluntary movements","volume":"4","author":"hogan","year":"1984","journal-title":"J Neurosci"},{"key":"ref34","first-page":"84","article-title":"Manipulator control at kinematic singularities: A dynamically consistent strategy","author":"chang","year":"1995","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1177\/0278364908091463"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087110"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1177\/0278364907087548"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1163\/156855301750078757"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574708004281"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1115\/1.2894130"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.2896491"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/41.20338"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/41.103479"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2005524"},{"key":"ref19","doi-asserted-by":"crossref","first-page":"1406","DOI":"10.1109\/TCST.2008.2007650","article-title":"Robust tracking under nonlinear friction using time-delay control with internal model","volume":"17","author":"cho","year":"2009","journal-title":"IEEE Trans Control Syst Technol"},{"key":"ref28","author":"franklin","year":"1997","journal-title":"Digital Control of Dynamic Systems"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICHR.2004.1442684"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/21.179857"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843604000058"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400103"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140702"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843605000594"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1007\/s11044-006-9017-3"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1177\/027836499701600203"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2010.2043757"},{"key":"ref9","first-page":"3625","article-title":"Dynamic task\/posture decoupling for minimally invasive surgery motions: Simulation results","volume":"4","author":"michelin","year":"2005","journal-title":"Proc IEEE\/RSJ Int Conf Intell Robots Syst"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1987.1087068"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1016\/j.chaos.2008.09.055"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2008.2000989"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2007.906132"},{"key":"ref24","first-page":"1035","article-title":"Solution of incorrectly formulated problems and the regularization method","volume":"5","author":"tikhonov","year":"1963","journal-title":"Soviet Math Dokl"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1177\/0278364904041325"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600201"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/70.585902"}],"container-title":["IEEE Transactions on Robotics"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx5\/8860\/6257464\/06168285.pdf?arnumber=6168285","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,10,10]],"date-time":"2021-10-10T23:54:11Z","timestamp":1633910051000},"score":1,"resource":{"primary":{"URL":"http:\/\/ieeexplore.ieee.org\/document\/6168285\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,8]]},"references-count":40,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/tro.2012.2187397","relation":{},"ISSN":["1552-3098","1941-0468"],"issn-type":[{"value":"1552-3098","type":"print"},{"value":"1941-0468","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,8]]}}}