Robot manipulator control using adaptive computed torque technique

An adaptive computed torque technique is proposed for the control of robotic manipulators. The technique treats the unmodeled dynamics and parameter model variations not taken into account in the control torque computation as a disturbance modeled by an mth-degree polynomial in time. Applying this adaptive computed torque controller using disturbance accommodation control techniques has been shown to be effective in controlling a two-link manipulator despite the incorrect knowledge of the mass value