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- W13737974 abstract "This paper presents a new indirect adaptive controller for robots. The control law is a computed torque type, which can be calculated directly using fast recursive Newton-Euler algorithm. The inertial parameters of the robot are updated through the minimization of an energy prediction error, function of the joint positions and velocities. The calculation cost of the complete adaptive control law for the 6 degree of freedom PUMA robot is given." @default.
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- W13737974 date "1991-01-01" @default.
- W13737974 modified "2023-09-23" @default.
- W13737974 title "Energy based adaptive robots controller" @default.
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- W13737974 doi "https://doi.org/10.1007/bfb0039264" @default.
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