A new adaptive control algorithm for robot manipulators in task space

Adaptive control of robotic manipulators in task space coordinates is considered in this paper. A new composite adaptive control law, which uses the prediction error and tracking error to drive parameter estimation, is developed based on sliding mode and a general Lyapunov-like concept. It is shown that global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that inverse of Jacobian matrix and the bounded inverse of the estimated inertia matrix are not required. The algorithm is further modified so as to achieve robustness to bounded disturbances. A simulation example is provided to demonstrate the performance of the proposed algorithm