Direct Adaptive Control of Robotic Systems

This paper presents a new approach to adaptive motion control of an important class of robotic systems. The control schemes developed using this approach are very simple and computationally efficient since they do not require knowledge of either the mathematical model or the parameter values of the robotic system dynamics. All of the control strategies are globally stable in the presence of bounded disturbance, and in all cases the size of the tracking errors can be made arbitrarily small. The proposed controllers are very general and are implementable with a wide variety of robotic systems, including both open-and closed-kinematic-chain manipulators. Computer simulation results are given for a seven degree-of-freedom (DOF) Robotics Research Corporation Model K-1607 arm and a six DOF closed-chain parallel manipulator. These results demonstrate that accurate and robust trajectory tracking can be achieved by using the proposed schemes.