Adaptive identification and control for manipulators without using joint accelerations

The authors present a new scheme for the adaptive control of mechanical manipulators along with proof of convergence. Difficulties encountered in the input-error type adaptive controller are remedied by combining an explicit identifier with discrete time updates of the parameter values along with a computed torque type control law. The new scheme requires no matrix inversion with its consequent drain on the computational power of the controller. A discussion is presented of the dynamic model of a manipulator, a computed torque adaptive scheme, an input error identifier, and a hybrid identifier.