Adaptive and robust control of a robot manipulator without acceleration measurements

An adaptive control scheme and a robust control scheme are introduced to exploit the structure of the robot manipulator equations. Lyapunov's second method is used to analyze the stability of the control schemes. The major aspects of the paper are that the control schemes do not require the measurement of acceleration. In the stability analysis, a slightly different Lyapunov function from the ones usually given in the literature is used.<>