The stability of the adapt tracking controller of rigid and flexible joint robots

Abstract

This paper considers the control scheme for manipulators with elastic joints. The proposed algorithm requires only position signal measurements. This algorithm is an extension of the control algorithm proposed by Loria and Ortega (1995). We have developed for the proposed model of manipulator an adaptive version of the control algorithm, based on the Lyapunov stability theory. This algorithm ensures that the position regulation error or tracking error possess desirable convergence property: semiglobal convergence to an arbitrarily small neighbourhood of zero in the presence of bounded disturbance. This paper considers three theorems, which were used to prove that this algorithm is semiglobal stable. New adaptive control algorithms which require only link position measurements, have been developed and tested, both on PC computer and on an experimental set-up.