Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model

Abstract

In this paper, we proposed a new task-space setpoint control scheme for robots with uncertainties in kinematics, actuators and dynamics. The stability problem of the robot in the presence of these uncertainties is formulated and solved. Sufficient conditions for choosing the feedback gains and approximate models are given to guarantee the convergence of the task-space position error. Simulation results based on a 3-link robot are presented to illustrate the performance of the proposed scheme.