The Lyapunov function approach is used to derive a new algorithm for model based adaptive motion control as applied to robot manipulators. The technique does not require a knowledge of state accelerations and if the method is implemented through a Newton-Euler recursive formulation then the computational requirements are quite low. High feedback gains are not needed to ensure stability. The parameter ranges allowed for stability are explicitly expressed, making the design process fairly simple. The algorithm is conceptually simple and easily implemented in industrial robots.

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