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In this note, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield the improved performance, without the expense of the conservative gain choice. The performance of the proposed controllers is shown by numerical simulations. [ABSTRACT FROM PUBLISHER]

In this technical note, we investigate the task-space synchronization for networked robots interconnected on strongly connected graphs with both the uncertain kinematics and dynamics. A cascade framework is proposed to facilitate the synchronization controller design for networked robotic systems. Under this framework, we propose an adaptive task-space synchronization scheme with indirect/direct kinematic parameter adaptations and a direct dynamic parameter adaptation for the networked robots. We employ the passive decomposition approach to show the asymptotic task-space synchronization of the networked system, and we demonstrate that the proposed control is capable of ensuring the weighted average consensus of the networked uncertain robots. Simulation results are provided to demonstrate the performance of the proposed control approach. [ABSTRACT FROM PUBLISHER]

In this note, we have proposed a prediction error based adaptive Jacobian controller to solve the problem of concurrent adaptation to both uncertain kinematics and dynamics. This controller is composed of a modified computed torque controller and two cushion floor least-square estimators, and in ideal case of perfect knowledge of the robot parameters it leads to linear and decoupled error dynamics. The kinematic and dynamic parameters adaptations are driven by prediction errors. Using input-output stability analysis, we show that the end-effector motion tracking errors converge asymptotically. We have also derived an alternative adaptive Jacobian controller that does not require the invertibility of the estimated inertia matrix. Simulation results are presented to show the performance of the proposed controllers. [ABSTRACT FROM AUTHOR]