Globally stable adaptive controller of robot manipulators

摘要

This paper addresses an adaptive inverse dynamics robotic control algorithm. Based on Lyapunov stability theory, the theorems on the global stability of robotic system are proven. The proposed algorithm is easy to implement and the robotic system is robust to parameter uncertainty and payload variation. Simulation results show the effectiveness of the scheme.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>