A robust adaptive controller design for manipulators with uncertain dynamics

Based on the second method of Lyapunov stability theory, a robust model reference adaptive control system, in this system, is developed to obtain high performance of a robot arm with two degrees of freedom that has wide variations in its payload and spatial configurations. The main advantage of this technique over the others is that it guarantees directly the stability of the overall system without requiring any additional stability analysis. The other is simplicity in computation, which provides the capability of real-time control calculation with today´s microprocessors. In order to demonstrate the capability of this technique, it has been conducted a computer simulation for a two-link planar manipulator with revolute joints