{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:07:05Z","timestamp":1777716425500,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1989,10,1]],"date-time":"1989-10-01T00:00:00Z","timestamp":623203200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1989,10]]},"abstract":"<jats:p>In many applications it is desirable to improve the dynamic accuracy of robots. In this paper a simple scheme for improv ing the accuracy is presented whereby the robot improves its performance each time the task is performed. The method makes use of the discrete time internal model principle. The performance of the algorithm is confirmed by computer sim ulation studies using a full nonlinear model of a 3-degree-of- freedom robot. The studies indicate that a dramatic improve ment in dynamic accuracy is achievable with the method.<\/jats:p>","DOI":"10.1177\/027836498900800506","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"67-74","source":"Crossref","is-referenced-by-count":73,"title":["A Method for Improving the Dynamic Accuracy of a Robot Performing a Repetitive Task"],"prefix":"10.1177","volume":"8","author":[{"given":"Richard H.","family":"Middleton","sequence":"first","affiliation":[{"name":"Department of Electrical and Computer Engineering The University of Newcastle Newcastle, New South Wales 2308, Australia"}]},{"given":"Graham C.","family":"Goodwin","sequence":"additional","affiliation":[{"name":"Department of Electrical and Computer Engineering The University of Newcastle Newcastle, New South Wales 2308, Australia"}]},{"given":"Richard W.","family":"Longman","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering Columbia University New York, New York 10027"}]}],"member":"179","published-online":{"date-parts":[[1989,10,1]]},"reference":[{"key":"atypb1","volume-title":"Proc. of the Fourth Yale Workshop in Application of Adaptive Systems Theory","author":"Arimoto, S."},{"key":"atypb2","volume-title":"Proc. 25th Conf. 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