ADAPTIVE-CONTROL OF ROBOTS HAVING BOTH DYNAMICAL PARAMETER UNCERTAINTIES AND UNKNOWN INPUT SCALINGS

The control problems of robots having both dynamical parameter uncerta inties and unknown input scalings are addressed. By appropriately defi ning the parameters of interest and the corresponding regressor, an ad aptive control law is presented by exploiting the structural propertie s of the resulting dynamical models. It is shown that the tracking err ors converge to zero and all the signals in the closed-loop system are bounded. Even though the input scalings are unknown, there is no need to adapt them because of the particular controller structure introduc ed here. Due to the introduction of the input scalings, uncertainties in the transformation mechanisms of robots are allowed. Copyright (C) 1996 Elsevier Science Ltd.