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A New Class of P.I.D. Parameter Adaptation Algorithms for Robot Manipulators*
Published online by Cambridge University Press: 09 March 2009
Summary
By using very simple considerations related to the mechanical Lagrangian itself, one obtains a new general class of parameter adaptation algorithms for robot manipulators, which provides such approaches as PID adaptation schemes. These models could apply to random structural mechanical Systems, subject to the conditon that they are defined by Lagrangians.
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- Copyright © Cambridge University Press 1991