Adaptive control of manipulators containing closed kinematic loops

A novel algorithm for the adaptive control of a robot manipulator which may contain closed kinematic loops is described. The algorithm identifies the mass properties of each link and the viscous friction coefficients for each joint of the manipulator. It is similar to the Newton-Euler inverse dynamics algorithm and, hence, obtains its computational efficiency through the recursive nature of the algorithm. Improved computational efficiency is achieved by eliminating the need to compute the constraint forces. Only inertial and gravitational forces are actually computed by the algorithm. Simulation results are presented