Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics

摘要

In this paper, the adaptive regulation problem of rigid-link electrically driven (RLED) robotic manipulators with uncertain kinematics is addressed. A new task-space control scheme is proposed to overcome the uncertainties in actuator dynamics, robot dynamics and kinematics. By using a novel adaptive regressor, we avoid the overparameterization problem which is often met in the adaptive control problem with uncertain actuator model. Sufficient conditions for choosing the feedback gains, approximate Jacobian matrix are provided to guarantee system stability. Simulation results are presented to verify the effectiveness of the proposed control scheme.