Adaptive control of robot manipulators including motor dynamics

An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known. An exponential control law is first developed under the assumption of no parameter uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full order adaptive control law is proposed to overcome parameter uncertainty for both manipulator links and motors. The asymptotic stability of the tracking error is proved using the Lyapunov stability theory. The method is further extended to the task space