Robust adaptive control for industrial robots-a decentralized system method

An adaptive control approach is presented for the tracking control of industrial robots. The approach utilizes the fact that a robot model can be described by equations that are linear in the system´s unknown parameters. Taking uncertainties into account, the resulting controller has the property of robustness. The proof of stability and analytical results of the boundness of position tracking errors are given. By introducing filter operations in state measurements, the approach avoids the difficulty of measuring the accelerations of the robots´ actuators. Simulation results are also presented