Robot control algorithms in terms of quasi-coordinates

We present adaptive control algorithms for robots whose dynamics are described in terms of quasi-velocities. A forward dynamics problem in terms of quasi-velocities consists of two recursions. The first starts from the bar of the manipulator towards its tip and second is in the opposite direction. Both recursions have in general matrix-vector form. The equations of motion are written using spatial quantities such as spatial velocities, accelerations, forces, and articulated body inertia matrices. In the paper new control algorithms based on Lyapunov theory are derived. Theorems presented in this paper show that the new control laws are stable and guarantee the trajectory end point tracking in the Cartesian space