ADAPTIVE PATH TRACKING CONTROL OF ROBOTIC MANIPULATORS WITH UNKNOWN PAYLOAD DYNAMICS

In practical applications, robots are often required to handle payloads with unknown dynamics. This paper considers the path tracking control problem of a robot carrying an unknown payload. An adaptive control scheme is presented in which the uncertain dynamics of the payload is taken into account, and prior information about the payload's mass or inertia is not required. By introducing a generalized inner product, an alternative approach for stability analysis (rather than the more usual Lyapunov method) is established which proves the asymptotically stable control of the proposed strategy.