Resumen
Adaptive control design for robot manipulators in joint space coordinates is analyzed. A new composite adaptive control law, which uses prediction and tracking error to drive parameter estimation, is developed, based on passivity and direct Lyapunov method. Global stability and convergence may be achieved for adaptive control algorithm which has the advantage that measurement of joint acceleration and bounded inverse of estimated inertia matrix are not required. Simulation examples are provided to demonstrate the performance of the proposed algorithm