Adaptive control based on explicit model of robot manipulator

Adaptive and nonadaptive control algorithms, which make use of a fundamental mathematical property concerning positive definite matrices and Lyapunov stability theory, are proposed for the control of robot manipulators. Using the fact that the matrix dD(q)/dt-2C(q, dq/ dt) is skew symmetric, nonadaptive controllers which have a simplified structure with less computational burden are proposed. Using the dynamic equations for robot manipulators, parameter adaptation rules are developed for updating the controller´s partially or totally unknown parameters, generalizing them to model reference adaptive controllers. To further take advantage of the simplified structure of the proposed adaptive controllers, a method for deriving the dynamic model of a robot manipulator which is linear in terms of its parameters is given. This dynamic model is also suitable for the pure identification of the parameters of links and payload of the manipulator