Adaptive control of robot manipulators with closed architecture

Abstract

This paper focuses on the adaptive control of robot manipulators with closed architecture and parametric uncertainty. We propose a new class of adaptive controllers via exploiting the potential as applying the forwardstepping approach and the input–output properties of an inverted form of the dynamics of robots with closed architecture. The condition that ensures the stability and convergence of the closed-loop system becomes rather moderate due to the new design and analysis, and the result presented further enhances the connection between nonlinear control theory and most industrial/commercial robotic applications.