The DOI matches its Crossref record.
A unified approach for motion and force control of robot manipulators: The operational space formulation
Abstract
A framework for the analysis and control of manipulator systems with respect to the dynamic behavior of their end-effectors is developed. First, issues related to the description of end-effector tasks that involve constrained motion and active force control are discussed. The fundamentals of the operational space formulation are then presented, and the unified approach for motion and force control is developed. The extension of this formulation to redundant manipulator systems is also presented, constructing the end-effector equations of motion and describing their behavior with respect to joint forces. These results are used in the development of a new and systematic approach for dealing with the problems arising at kinematic singularities. At a singular configuration, the manipulator is treated as a mechanism that is redundant with respect to the motion of the end-effector in the subspace of operational space orthogonal to the singular direction.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cited by
Optimality principles in sensorimotor control
Todorov, E. (2004) · Nature Neuroscience · doi:10.1038/nn1309 · Cited by 1,746
Gibson Env: Real-World Perception for Embodied Agents
Xia, F., Zamir, A. R., He, Z., Sax, A., Malik, J., & Savarese, S. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00945 · Cited by 763
A review of mobile robots: Concepts, methods, theoretical framework, and applications
Rubio, F., Valero, F., & Llopis-Albert, C. (2019) · International Journal of Advanced Robotic Systems · doi:10.1177/1729881419839596 · Cited by 763
Diffusion policy: Visuomotor policy learning via action diffusion
Chi, C., Xu, Z., Feng, S., Cousineau, E., Du, Y., Burchfiel, B., Tedrake, R., & Song, S. (2025) · The International Journal of Robotics Research · doi:10.1177/02783649241273668 · Cited by 613
“The controller is formulated using Operational Space Control (Khatib, 1987) as a Quadratic Program operating at 200 Hz, where position, velocity, and torque limits are added as constraints, and the primary spatial objective and secondary null-space posture objectives are posed as costs.”
Deep visual foresight for planning robot motion
Finn, C., & Levine, S. (2017) · 2017 IEEE International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2017.7989324 · Cited by 599
Metadata
- Authors
- Khatib, O.
- Venue
- IEEE Journal on Robotics and Automation
- Published
- 1987-02
- Volume
- 3
- Issue
- 1
- Pages
- 43-53
- ISSN
- 0882-4967 (ISSN-L)
- OpenAlex
- W2112474089
- Cited by
- 2,940
- References
- 0
- FWCI
- 65.28
- Type
- journal article
- Language
- en
- Open access
- closed
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: A unified approach for motion and force control of robot manipulators: The operational space formulation. https://app.cochat.ai/papers/10.1109/jra.1987.1087068
- The paper
- Khatib, O. (1987). A unified approach for motion and force control of robot manipulators: The operational space formulation. IEEE Journal on Robotics and Automation. https://doi.org/10.1109/jra.1987.1087068
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
