ROBUST ADAPTIVE CARTESIAN CONTROL OF ROBOT MANIPULATORS USING BOUNDEDUNCERTAINTIES APPROACH

The author presents a new technique for robust adaptive control to ena ble the end-effector of a manipulator to trade a given trajectory in t he Cartesian space while maintaining stability of the resulting closed -loop system. The algorithm achieves tracking in the presence of a cla ss of unmodeled dynamics and other disturbances, such as friction in t he joints. The proposed controller has a simple structure, is computat ionally fast, and can easily be implemented for real-time applications . Simulation results are presented to show the capability of the propo sed controller.