{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:46:22Z","timestamp":1777715182528,"version":"3.51.4"},"reference-count":18,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1991,10,1]],"date-time":"1991-10-01T00:00:00Z","timestamp":686275200000},"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":[[1991,10]]},"abstract":"<jats:p>The design problem of model-based adaptive control of robots with unknown parameters is considered. By intro ducing a nonholonomic transformation of the error dynamics, a general class of adaptive algorithms is obtained, which includes some previously derived results as special cases. The algorithms can be implemented through fast recursive schemes such as the Newton-Euler formulation without requiring excessive feedback gains. By setting certain terms, it is also possible to obtain an exponential convergence of the joint errors.<\/jats:p>","DOI":"10.1177\/027836499101000506","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T03:05:13Z","timestamp":1173582313000},"page":"505-514","source":"Crossref","is-referenced-by-count":0,"title":["New Robot Adaptive Control Strategies Through Nonholonomic Transformations"],"prefix":"10.1177","volume":"10","author":[{"family":"Keqin Gu","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering Southern Illinois University Edwardsville, Illinois 62026"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Benson H.","family":"Tongue","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering University of California, Berkeley Berkeley, California 94720"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,10,1]]},"reference":[{"key":"atypb1","volume-title":"Introduction to Robotics: Mechanics and Control","author":"Craig, J.J.","year":"1986"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600202"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426424"},{"key":"atypb4","volume-title":"Principles of Dynamics","author":"Greenwood, D.T.","year":"1965"},{"key":"atypb5","volume-title":"USA-Japan Symposium on Flexible Automation","author":"Gu, K."},{"key":"atypb6","volume-title":"An adaptive control scheme for mechanical manipulators\u2014compensa\u2014 tion of nonlinearity and decoupling control","author":"Horowitz, R.","year":"1980"},{"key":"atypb7","volume-title":"IEEE International Conference on Robotics and Automation","author":"Hsu, P."},{"key":"atypb8","volume-title":"Linear Systems","author":"Kailath, T.","year":"1980"},{"key":"atypb9","volume-title":"IEEE Conf. on Decision and Control","author":"Khosla, P."},{"issue":"9","key":"atypb10","volume":"29","author":"Lee, C.S.G.","year":"1984","journal-title":"IEEE Trans. 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