Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: An implicit adaptive inverse dynamics control scheme for robot manipulators is presented. Instead of estimating manipulator parameters, the feedback gain is directly updated according to the bounds of uncertainties of the robotic system. Two theorems are proven, and the resulting algorithm can tolerate the variation of physical parameters to some extent. The controller parameters have a certain relation to the desired position and velocity accuracy, such that the choice for them is easy. Simulation results verify the effectiveness of the approach. >
['Jianmin Xu', 'Qi-Jie Zhou', 'T. P. Leung']
I am writing a research paper on a idea Implicit adaptive inverse dynamics control of robot manipulators
[{"from": "human", "value": "I am writing a research paper on a idea Implicit adaptive inverse dynamics control of robot manipulators"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: An implicit adaptive inverse dynamics control scheme for robot manipulators is presented. Instead of estimating manipulator parameters, the feedback gain is directly updated according to the bounds of uncertainties of the robotic system. Two theorems are proven, and the resulting algorithm can tolerate the variation of physical parameters to some extent. The controller parameters have a certain relation to the desired position and velocity accuracy, such that the choice for them is easy. Simulation results verify the effectiveness of the approach. >"}]