53.4 Adaptive Control of Robot Manipulators

For tracking control applications, the manipulator is required to follow a desired time-varying trajectory. The simple PD controllers in the previous section are usually not effective for tracking control, especially for high-speed manipulation tasks. In this section, adaptive control method of robot manipulators is presented for tracking control applications. 

Remark 6 In many practical applications, the physical parameters are bounded by prescribed upper and lower limits. Using these bounds as a priori information, the parameter update law can be modified in a way that the estimates are constrained to a specified region. In this regard, a commonly used method is the standard projection algorithm (Ioannou and Sun 1996).