A Lyapunov-based critic weight update for SNAC kinematic control of robot manipulators is proposed and tested on a UR10, yet the optimality claim is not proven.
Image based visual servoing of a 7 dof robot manipulator using an adaptive distributed fuzzy pd controller,
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Adaptive Critic Based Optimal Kinematic Control for a Robot Manipulator
A Lyapunov-based critic weight update for SNAC kinematic control of robot manipulators is proposed and tested on a UR10, yet the optimality claim is not proven.