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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

Guy Jumarie
Guy Jumarie
Affiliation:
Dept. of Mathematics and Computer Science, Université du Québec à Montréal, P.O. Box 8888, St. A. Montréal, QUE H3C 3P8 (Canada)
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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.

Keywords

P.I.D. SchemesAdaptationAlgorithmsMechanicalLagrangianRobotsMechanical Systems
Type
Article
Information
Robotica , Volume 9 , Issue 1 , January 1991 , pp. 107 - 109
Copyright
Copyright © Cambridge University Press 1991

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