Comparative experiments with a new adaptive controller for robot arms

This paper presents a new adaptive controller and proof of its global asymptotic stability with respect to the standard rigid body model of robot arm dynamics. Experimental data from a study of this and other globally asymptotically stable adaptive controllers on two very different robot arms (i) reconciles several previous contrasting empirical studies (ii) demonstrates and compares their superior tracking performance (iii) examines contexts which com promise their advantage.