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Adaptive control based on speed gradient algorithm for robot manipulators
Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics
Ahttuct-In this short note, we present three types of adaptive puameter update law for the rigid body robot d p u k t o r baeed on the epeed gradient alge dthm which ie introduced by Fradkov. In the derivation of the new adaptive parameter update laws, we refer the dynamics of rigid body robot manipulators and it's error dynamics which were derived by Slotine. It is shown that the parameter update law which was derived by Slotine belongs to one of three types of adaptive parameter update lawdoi:10.1109/iecon.1994.397884 fatcat:l7kwe5wedjgtpkt33yu25hasse