Adaptive regulation of rigid-link electrically-driven manipulators

This paper considers the position regulation problem for uncertain rigid-link electrically-driven manipulators, and presents an adaptive control strategy as a solution to this problem. The proposed controller is computationally simple, requires virtually no a priori information concerning either the manipulator or actuator models, and ensures semiglobal stability and convergence of the manipulator position error to zero. Experimental results are presented for a Zebra Zero manipulator and demonstrate that the proposed scheme provides a simple and effective means of obtaining high performance position regulation. Additionally, the experiments indicate that accurate trajectory tracking can also be realized with this controller.