Adaptive motion control of rigid-link electrically-driven robot manipulators

In this paper the design of adaptive control of rigid-link electrically-driven robot manipulators is addressed in the presence of arbitrary uncertain inertial parameters of the manipulator and the electrical parameters of the actuators. In contrast to the known methods, the presented design requires at most the joint velocity feedback and does not rely on the knowledge of the bounds of complexity functions. Global asymptotic stability of the adaptive controller is established in the Lyapunov sense. Simulation results are included to demonstrate the tracking performance