Direct adaptive control of robotic systems (Q1335024)

This paper presents a new class of direct adaptive algorithms for motion control of robotic systems. The control laws are derived directly in the task space of the system and do not require knowledge of either the mathematical or the parameter values of the system dynamics. The proposed schemes are very general and are implementable with a wide variety of robotic systems. It is shown that the control strategies are globally stable in the presence of bounded disturbances, and that the size of the tracking errors can be made arbitrarily small.