Joint self-tuning with cartesian setpoints

A joint coordinate self-tuning manipulator control method is presented which uses Cartesian setpoints. The method is capable of both position and hybrid control. Position and force errors are transformed from Cartesian coordinates to position and force errors at the joints. The position and force errors at each joint are combined into one hybrid error which is eliminated using pole-placement self-tuning. Real time position and hybrid control results are given.