DIRECT ADAPTIVE-CONTROL OF ROBOTIC SYSTEMS

This paper presents a new approach to adaptive motion control of an im portant class of robotic systems. The control schemes developed using this approach are very simple and computationally efficient since they do not require knowledge of either the mathematical model or the para meter values of the robotic system dynamics. It is shown that the cont rol strategies are globally stable in the presence of bounded disturba nces, and that the size of the tracking errors can be made arbitrarily small. The proposed controllers are very general and are implementabl e with a wide variety of robotic systems, including both open- and clo sed-kinematic-chain manipulators. Computer simulation results are give n for a seven degree-of-freedom (DOF) Robotics Research Corporation Mo del K-1607 arm. These results demonstrate that accurate and robust tra jectory tracking can be achieved by using the proposed schemes.