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The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on\u2010line implementation with high sampling rates. The control scheme is applied to a two\u2010link manipulator for illustration.<\/jats:p>","DOI":"10.1002\/rob.4620040110","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"157-178","source":"Crossref","is-referenced-by-count":27,"title":["Direct adaptive control of manipulators in cartesian space"],"prefix":"10.1002","volume":"4","author":[{"given":"H.","family":"Seraji","sequence":"first","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","first-page":"1128","volume-title":"Proceedings of the Sixth IFTOMM Congress on Theory of Machines and Mechanisms","author":"Khatib O.","year":"1983"},{"key":"e_1_2_1_3_2","unstructured":"O.Khatib \u201cThe Operational Space Formulation in the Analysis Design and Control of Manipulators \u201d in: Proceedings of the Third International Symposium of Robotics Research Paris France 1985."},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.1049\/el:19790476"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","unstructured":"O.Egeland \u201cOn the Robustness of the Computed Torque Technique in Manipulator Control \u201d in: Proceedings of the IEEE International Conference on Robotics and Automation San Francisco 1986 pp.1203\u20131208.","DOI":"10.1109\/ROBOT.1986.1087605"},{"key":"e_1_2_1_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1983.1103211"},{"key":"e_1_2_1_7_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1984.1103670"},{"key":"e_1_2_1_8_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010204"},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140742"},{"key":"e_1_2_1_10_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3143727"},{"key":"e_1_2_1_11_2","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620010104"},{"key":"e_1_2_1_12_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3426424"},{"key":"e_1_2_1_13_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.1983.309392"},{"key":"e_1_2_1_14_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3140646"},{"key":"e_1_2_1_15_2","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90013-X"},{"key":"e_1_2_1_16_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103842"},{"key":"e_1_2_1_17_2","doi-asserted-by":"publisher","DOI":"10.1080\/00207178108922527"},{"key":"e_1_2_1_18_2","doi-asserted-by":"publisher","DOI":"10.1115\/1.3149674"},{"key":"e_1_2_1_19_2","doi-asserted-by":"crossref","unstructured":"M.TomizukaandR.Horowitz \u201cModel Reference Adaptive Control of Mechanical Manipulators \u201d in: Proceedings of the IFAC Symposium on Adaptive Systems in Control and Signal Processing San Francisco 1983 27\u201332.","DOI":"10.1016\/B978-0-08-030565-3.50010-1"},{"key":"e_1_2_1_20_2","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1985.1103873"},{"key":"e_1_2_1_21_2","unstructured":"R. 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