Abstract
A new adaptive control law for robot manipulators in task space is developed in this paper. It is shown that global stability and convergence can be achieved for the adaptive control algorithm in the ideal case, and furthermore, the algorithm can be simply modified using parameter estimate projection to achieve robustness with respect to a class of unmodelled dynamics. In addition, the algorithm has the advantage that no requirement is needed for the inverse of Jacobian matrix or for the bounded inverse of the estimated inertia matrix.
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