{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,1]],"date-time":"2025-10-01T16:34:21Z","timestamp":1759336461433},"reference-count":29,"publisher":"University of Zielona G\u00f3ra, Poland","issue":"1","license":[{"start":{"date-parts":[[2017,3,28]],"date-time":"2017-03-28T00:00:00Z","timestamp":1490659200000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2017,3,28]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>A saturating stiffness control scheme for robot manipulators with bounded torque inputs is proposed. The control law is assumed to be a PD-type controller, and the corresponding Lyapunov stability analysis of the closed-loop equilibrium point is presented. The interaction between the robot manipulator and the environment is modeled as spring-like contact forces.<\/jats:p>\n               <jats:p>The proper behavior of the closed-loop system is validated using a three degree-of-freedom robotic arm.<\/jats:p>","DOI":"10.1515\/amcs-2017-0006","type":"journal-article","created":{"date-parts":[[2017,4,2]],"date-time":"2017-04-02T10:00:29Z","timestamp":1491127229000},"page":"79-90","source":"Crossref","is-referenced-by-count":8,"title":["Saturating Stiffness Control of Robot Manipulators with Bounded Inputs"],"prefix":"10.61822","volume":"27","author":[{"given":"Mar\u00eda del Carmen","family":"Rodr\u00edguez-Li\u00f1\u00e1n","sequence":"first","affiliation":[{"name":"CONACYT\u2014Ensenada Institute of Technology Boulevard Tecnol\u00f3gico No. 150, Col. Ex Ejido Chapultepec , Ensenada , Baja California, 22780 Mexico"}]},{"given":"Marco","family":"Mendoza","sequence":"additional","affiliation":[{"name":"Faculty of Sciences Autonomous University of San Luis Potos\u00ed, Av. Salvador Nava S\/N , San Luis Potos\u00ed , SLP, 78290 Mexico"}]},{"given":"Isela","family":"Bonilla","sequence":"additional","affiliation":[{"name":"Faculty of Sciences Autonomous University of San Luis Potos\u00ed, Av. Salvador Nava S\/N , San Luis Potos\u00ed , SLP, 78290 Mexico"}]},{"given":"C\u00e9sar A.","family":"Ch\u00e1vez-Olivares","sequence":"additional","affiliation":[{"name":"Robotics Engineering Department Autonomous University of Aguascalientes, Prol. Mahatma Gandhi 6601 , Aguascalientes , Ags., 20392 Mexico"}]}],"member":"37438","published-online":{"date-parts":[[2017,5,4]]},"reference":[{"key":"2021040611403131482_j_amcs-2017-0006_ref_001_w2aab2b8c11b1b7b1ab1ab1Aa","doi-asserted-by":"crossref","unstructured":"Agui\u00f1aga-Ruiz, E., Zavala-R\u00edo, A., Santib\u00e1\u00f1ez, V. and Reyes, F. (2009). Global trajectory tracking through static feedback for robot manipulators with bounded inputs, IEEE Transactions on Control Systems Technology17(4): 934\u2013944.","DOI":"10.1109\/TCST.2009.2013938"},{"key":"2021040611403131482_j_amcs-2017-0006_ref_002_w2aab2b8c11b1b7b1ab1ab2Aa","doi-asserted-by":"crossref","unstructured":"Akdo\u011fan, E. and Adli, M.A. (2011). 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