Approximate Jacobian robot control with adaptive Jacobian matrix

In this paper, we present approximate Jacobian feedback control laws for setpoint control of robot with uncertain kinematics from joint space to task space. An adaptive law is proposed to update the approximate Jacobian matrix to improve the performance. Sufficient conditions for the feedback gains are presented to guarantee the stability of the robot´s motion. Simulation results are presented to illustrate the performance of the proposed adaptive controllers.