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.

中文翻译：

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封闭式机器人机械臂的自适应控制

本文重点研究具有封闭结构和参数不确定性的机器人机械臂的自适应控制。我们通过开发应用前向步进方法和具有封闭架构的机器人动力学倒置形式的输入输出属性的潜力，提出了一类新型自适应控制器。由于新的设计和分析，确保闭环系统的稳定性和收敛性的条件变得相当温和，并且所提出的结果进一步增强了非线性控制理论与大多数工业/商业机器人应用之间的联系。