ADAPTIVE-CONTROL BASED ON EXPLICIT MODEL OF ROBOT MANIPULATOR

In this short note, adaptive and nonadaptive control algorithms, which make use of fundamental mathematical property concerning positive def inite matrices and Lyapunov stability theory are proposed for the cont rol of robot manipulators. Using the fact that matrix dD(q)/dt - 2C(q, q) is skew symmetric, nonadaptive controllers which have a simplified structure with less computational burden are proposed. Then based on t he dynamic equations of robot manipulators, parameter adaptation rules are developed for updating the partially or totally unknown parameter s in the proposed nonadaptive controllers, generalizing the nonadaptiv e controllers to model reference adaptive controllers. To further take the advantage of the simplified structure of the proposed adaptive co ntrollers, the dynamic model of robot manipulators must be expressed l inearly in terms of the parameters of links and payload inertias. So w e also present a method on how to derive the dynamic model of robot ma nipulator which is linear in terms of its parameters. This dynamic mod el of robot manipulators is also suitable for the pure identification of the parameters of links and payload of the manipulator.