Adaptive Task-Space Control of Rigid-Link Robots with Uncertain Kinematics and Dynamics and without Acceleration Measurements

This paper provides an adaptive task-space controller for rigid-link robots with uncertain kinematics and dynamics. The control law is composed of two parts. The first partcontains feedback linearization terms and the second part contains compensation control terms which use the output of apredictive filter to avoid acceleration measurements in thedynamic parameter estimation. Global asymptotic convergence of the end-effector motion tracking errors is shown viaLyapunov analysis. Simulation results of applying the proposed controller on a two rigid-link robot manipulator are presented to show the effectiveness of the proposed control scheme

Keywords:

Robot , Adaptive Control , Uncertain Kinematics , Uncertain Dynamics