# Adaptive operation-space control of redundant manipulators with joint limits avoidance

##### Citations

7 citations

### Cites background from "Adaptive operation-space control of..."

...Property 2 ( [27]): The matrix Cx(q(t), q̇(t))− 1 2Ṁx(q(t)) is skew-symmetric, i....

[...]

...Property 1 ( [27]): The matrixMx(q(t)) is symmetric and positive definite....

[...]

3 citations

### Cites background from "Adaptive operation-space control of..."

...Equation (12) is the forward kinematics equation of the left robot manipulator of dual manipulators....

[...]

2 citations

##### References

1,337 citations

### "Adaptive operation-space control of..." refers background in this paper

...Property 2: [10] Matrix 2C(q(t), q̇(t)) − Ṁ(q(t)) is a skew-symmetric matrix if C(q(t), q̇(t)) is in the Christoffel form, i....

[...]

1,021 citations

771 citations

### "Adaptive operation-space control of..." refers background in this paper

...2 in [12], (45) indicates that all closedloop signals η1, η2 and {W̃} are uniformly bounded....

[...]

516 citations

### "Adaptive operation-space control of..." refers background or methods in this paper

...Nevertheless, as the control input designed in (32) incorporates unknown components M(q(t)), C(q(t), q̇(t)) and G(q(t)), RBFNNs are constructed and the GL operator [9] is utilized to express P (q(t), q̇(t), vr, v̇r(t)) as below...

[...]

...Property 1: [9] Matrix M(q(t)) is symmetric and positive definite....

[...]