Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Earlier work (Slotine and Li, 1986) demonstrates that using state feedback to directly modify a manipulator's energy function, rather than its fully expanded dynamics, represents a porful approach to robot control, and, in particular, yields a simple globally convergent adaptive algorithm for trajectory control problems. An important practical feature of the algorithm is that is does not require measurements or estimates of the manipulator's joint accelerations.  rewrites the approach in term of end-effector dynamics, extends it to hybrid motion/force control, and discusses adaptive strategies involving mobile environments, such as the external motion control of an unknown passive mechanism.
['Jean-Jacques E. Slotine', 'Weiping Li']
I am writing a research paper on a idea Adaptive strategies in constrained manipulation
[{"from": "human", "value": "I am writing a research paper on a idea Adaptive strategies in constrained manipulation"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Earlier work (Slotine and Li, 1986) demonstrates that using state feedback to directly modify a manipulator's energy function, rather than its fully expanded dynamics, represents a porful approach to robot control, and, in particular, yields a simple globally convergent adaptive algorithm for trajectory control problems. An important practical feature of the algorithm is that is does not require measurements or estimates of the manipulator's joint accelerations.  rewrites the approach in term of end-effector dynamics, extends it to hybrid motion/force control, and discusses adaptive strategies involving mobile environments, such as the external motion control of an unknown passive mechanism."}]