Abstract
A form of adaptive control, named adaptive nominal control, is developed for high-speed and high-precision trajectory tracking of robot manipulators. An adaptation term is used to compensate the nonlinearities of the robot dynamics. Differing from others, the adaptive algorithm is used to modify the nominal control term, so that the online computation time is considerably reduced. Together with a simple variational control term, the algorithm guarantees local or global asymptotical stability. If this method is used in Cartesian coordinates, the online computation of the inverse Jacobian matrix is avoided. The parameter boundaries of the manipulator are used in the adaptive algorithm to make the controller robust. The control algorithm can be implemented easily. Experimental results show that the algorithm is effective.<>