Resumen
Direct adaptive control algorithms for robot manipulators in joint space coordinates are provided. High precision tracking control of robot manipulators with unknown load is analyzed. A proposed adaptive controller is compared to two versions of direct adaptive controllers. Two versions of direct adaptive control methods are those suggested by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control method has been simulated on the same trajectories and the performance has been evaluated based on error dynamics, trajectory tracking accuracy and parameter estimation