Departmental Papers (ESE)


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.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

April 1991


Copyright 1991 IEEE. Reprinted from Proceedings of the IEEE International Conference on Robotics and Automation, Volume 1, 1991, pages 2-7.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 06 June 2008

This document has been peer reviewed.