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This paper presents a new adaptive control scheme for mechanical manipulators. Making use of the fundamental properties of the manipulator equations, an adaptive algorithm is developed for compensating a nonlinear term in the dynamic equations and for decoupling the dynamic interaction among the joints. A computer simulation study is conducted to evaluate the performance of a manipulator control system composed of the manipulator, adaptive nonlinear compensator/decoupling controller and state feedback controller with integral action. Simulation results show that the manipulator control system with adaptive controller is insensitive to variations of manipulator configurations and payload.
Horowitz et al. (Sun,) studied this question.