Nonlinear Adaptive Control of Robots Including Motor Dynamics

Dynamic modelling for robot manipulators including motor dynamics is introduced first. The resulting dynamic models are then transformed into an attractive form, under moderate assumptions, to which the most recent control design methods are applicable. Several fundamental properties are discussed briefly in order to facilitate the control design. The proposed control methods tackle two main issues: parameter adaptation for unknown dynamic parameters and robustness in the sense of modelling errors. It can be shown that all the closed-loop signals are bounded.