53.8 Summary
This chapter introduces robot control design methods using the Lyapunov based method. By utilizing the physical properties of the robot kinematics and dynamics, several set-point and adaptive tracking controllers have been presented in both the joint space and task space. A simple motion controller that is effective for set-point regulation is the PD controller with gravity compensation. For tracking control tasks, the adaptive controller has been presented for a robot manipulator with uncertain dynamics. Using sensory feedback of the robot end-effector position in the task space, approximate Jacobian set-point controllers and adaptive Jacobian tracking controllers have been presented for robot manipulators with uncertainties in both kinematics and dynamics.
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