Adaptive Tracking Control of Robot Manipulators in Cartesian Space Coordinates

This paper considers adaptive tracking control of robotic manipulators in Cartesian space coordinates. It is assumed that the Jacobian matrix of robot is known. A general Lyapunov-like concept is then used to design an adaptive control law. It is shown that the global stability and convergence can be achieved for the adaptive control algorithm. The algorithm has the advantage that inverse of Jacobian matrix is not required. The algorithm is further modified so that the requirement of boundedess for the inverse of estimated inertia matrix is eliminated. Results are also presented to achieve robustness to bounded disturbances.