A design procedure for the synthesis of an adaptive controller for a robotic manipulator is presented. The design involves the evaluation of a nominal input signal by using a model of the manipulator with nominal values of the loads, and of an adaptive component by means of the sole knowledge of the maximum possible size of the uncertain parameters of the model. The proposed control scheme also guarantees an accurate tracking of a planned path when an approximate model of the manipulator is used and/or load variations occur during operation. Moreover, the resulting control signal is smooth.

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