APPLIED MATHEMATICAL MODELLING, vol.29, no.4, pp.361-371, 2005 (SCI-Expanded)
In this article, a model of adaptive control law for controlling robot manipulators using the Lyapunov based theory of guaranteed the stability of uncertain a system is derived. The novelty of obtained result is that the adaptive control algorithm is developed using a parameter estimation rule depending on manipulator kinematic, dynamic parameters and tracking error. This study is supported by a computer simulation and tracking performance has been improved. (C) 2004 Elsevier Inc. All rights reserved.