Adaptive computed torque control for rigid link manipulations (Q1098810)

This paper presents an adaptive computed-torque control method for rigid link mechanical manipulators. The dynamic equations of motion of the system are suitably parametrized in such a way that linear estimation can be used. This avoids the drawbacks concerned with former adaptive controllers such as: i) non-zero tracking errors, ii) unbounded feedback gains or iii) `chattering' effects. The resulting control law remarkably requires measurements of state variables only. Global convergence is established. The paper is nicely written and well organized. It would be interesting to see further results on robustness, computational aspects and performance issues of the proposed control law.