Earlier work (Slotine and Li, 1986) exploits the particular structure of manipulator dynamics to develop a simple, globally convergent adaptive algorithm for trajectory control problems. The algorithm does not require measurements or estimates of the manipulator's joint accelerations, nor inversion of the estimated inertia matrix. This paper demonstrates the approach on a high-speed 2 d.o.f. semi-direct-drive robot. It shows that the manipulator mass properties, assumed to be initially unknown, can be precisely estimated within the first half second of a typical run. Similarly, the algorithm allows large loads of unknown mass properties to be precisely manipulated. Further, these experimental results demonstrate that the adaptive controller enjoys essentially the same level of robustness to unmodelled dynamics as a PD controller, yet achieves much better tracking accuracy than either PD or computed-torque schemes. Its superior performance for high speed operations, in the presence of parameter uncertainties, and its relative computational simplicity, make it a attractive option both to address complex industrial tasks, and to simplify high-level programming of more standard operations.
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