On the learning control of a robot manipulator

Abstract

A learning control law is derived to achieve trajectory following for a robot manipulator. The controller consists of a computed torque servo for the rigid body terms that can be modeled and a learning law for the unmodeled dynamics. Two advantages of this method are that bounds can be assigned to the position and velocity tracking errors and that no measurements of joint acceleration are required.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>