Whitcomb, Louis LKoditschek, Daniel ERizzi, Alfred A2023-05-222023-05-221993-02-012008-03-12https://repository.upenn.edu/handle/20.500.14332/33524This paper presents a new model-based 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 one new and several established globally asymptotically stable adaptive controllers on two very different robot arms 1) demonstrate the superior tracking performance afforded by the model-based algorithms over conventional PD control, 2) demonstrate and compare the superior performance of adaptive model-based algorithms over their nonadaptive counterparts, 3) reconcile several previous contrasting empirical studies, and 4) examine contexts that compromise their advantage.GRASPKodlabElectrical and Computer EngineeringEngineeringSystems EngineeringArticle