Adaptive control of robot manipulators in task space

This paper considers adaptive control of robot manipulators in task space. An adaptive sliding-mode control scheme is combined with nonlinear integral control to derive a globally stable adaptive control algorithm. With this algorithm, the robustness is guaranteed by the sliding-mode control law and the chattering associated with sliding mode control is eliminated by the integral control law. With the proposed algorithm, model uncertainties and external disturbances can be easily handled. The algorithm has the advantages that the inverse of the Jacobian matrix is not required, that a detailed description of the dynamic model is not required and that only some PID operations are required for its implementation