Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model

In this note, the adaptive setpoint control problem of robotic manipulators in the presence of uncertainties in both kinematics and actuator model is addressed. Two new task-space control methods are proposed to overcome the uncertainties. Sufficient conditions for choosing the feedback gains, estimated Jacobian matrix and estimated actuator model are provided to guarantee system stability. Experimental results are presented to verify the practical feasibility of the proposed control methods.