Adaptive control of robot manipulators in task space

Adaptive control of robotic manipulators in task space or Cartesian space is considered. A general Lyapunov-like concept is used to design an adaptive control law. It is shown that the global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that the inverse of Jacobian matrix is not required. The algorithm is further modified so that the requirement for the bounded inverse of estimated inertia matrix is also eliminated. In addition, two approaches are presented to achieve robustness to bounded disturbances