Adaptive Path Tracking Control of Robotic Manipulators with Unknown Payload Dynamics

In practical appplications, robots are often required to handle payloads with unknown dynamics and unknown shapes. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload´s mass or inertia is not required. By introducing a generalized inner product, a new approach for stability analysis is established which proves the asymptotically stable control of the proposed strategy.