An adaptive control scheme for robot manipulators including motor dynamics is proposed in this paper. The proposed scheme avoids the assumption that the values of motor parameters are known which is required in reference (13). An exponential control law is first developed under the assumption of no uncertainty. This forms a controller structure for the adaptive control. Using this control structure, a full-order adaptive control law is proposed to overcome parameter uncertainty for both robot link and motor. The stability analysis is in the Lyapunov stability sense. The method is further extended to the task space. Extensive simulations are performed to compare the different control schemes.
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