Adaptive motion control of rigid robots: a tutorial

Abstract

An account is given of several adaptive control results for rigid robot manipulators. The intention is to lend some perspective to the growing list of adaptive control results for manipulators by providing a unified framework for comparison of those adaptive control algorithms which have been shown to be globally convergent. In most cases the authors are able to simplify the derivations and proofs of these results as well.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>