11th International Conference on Knowledge-Based Intelligent Informational and Engineering Systems/17th Italian Workshop on Neural Networks, Vietri sul Mare, Italy, 12 - 14 September 2007, vol.4692, pp.655-663
In this paper, the relationships between the kinematics design and tracking performance of the model-based adaptive control are studied. For this purpose, the position tracking error convergences of three serial manipulators with joint types of RR, RP and PP are considered. The physical parameters and desired trajectories of these manipulators are assumed same for the proper comparison. Since the model-based adaptive control can completely account for nonlinear structure of robot dynamics, it has been preferred as control method.