Adaptive control of robot manipulators with closed architecture

This paper focuses on the adaptive control of robot manipulators with closed architecture and parametric uncertainty. We propose a new class of adaptive controllers via exploiting the potential as applying the forwardstepping approach and the input-output properties of an inverted form of the dynamics of robots with closed architecture. The condition that ensures the stability and convergence of the closed-loop system becomes rather moderate due to the new design and analysis, and the result presented further enhances the connection between nonlinear control theory and most industrial/commercial robotic applications. (c) 2023 Elsevier Ltd. All rights reserved.