This paper presents a new adaptive controller designed for rigid-body robots including motor dynamics. Recently, the effects of motor dynamics have attracted attention from a number of researchers. The available controllers able to ensure stable tracking in the presence of motor dynamics need acceleration feedback, or at least an acceleration observer. This means additional computing power and expenses in the hardware implementation. The proposed adaptive controller does not need an observer to avoid the acceleration feedback. It generates a continuous control signal. The closed-loop system is locally stable in the Lyapunov sense.

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