Adaptive regulation of amplitude limited robot manipulators with uncertain kinematics and dynamics

Common assumptions in most of the previous robot controllers are that the robot kinematics and manipulator Jacobian are perfectly known and that the robot actuators are able to generate the necessary level of torque inputs. In this paper, an amplitude-limited torque input controller is developed for revolute robot manipulators with uncertainty in the kinematic and dynamic models. The adaptive controller yields semi-global asymptotic regulation of the task-space set-point error. The advantages of the proposed controller include the ability to actively compensate for unknown parametric effects in the dynamic and kinematic model and the ability to ensure that actuator constraints are not breached by calculating the maximum required torque a priori.