Adaptive task-space control of rigid-link robots with uncertain kinematics and dynamics and without acceleration measurements

摘要

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 part contains feedback linearization terms and the second part contains compensation control terms which use the output of a predictive filter to avoid acceleration measurements in the dynamic parameter estimation. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov 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.