On the convergence of minimum-parameters of robot manipulators in the adaptive control

The convergence of robot parameters is tested through the use of a globally convergent, adaptive control scheme for a complex, nonlinear robot system whose models are obtained by two different methods. The first is the classical Lagrangian method, while the second is based on the determination of minimal inertial parameters. It is shown that the convergence of minimum parameters in adaptive control of the robot is better than that of its original parameters due to some unchanged property of elements of the matrix which determines the so-called sufficient richness condition of the trajectory. Simulations have been done for the PAMIR robot