Adaptive Regulation of Mechanical Manipulators

This paper presents an adaptive scheme for point-to-point motion control of robot manipulators. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, is computationally efficient, and is shown to be globally stable. Furthermore, the control system is very general and is directly implementable in either joint-space or Cartesian-space with either nonredundant or redundant manipulators.