Patent Document ID: 5414799
Application ID: 08078893
Patent Flag: 1

Claim One:
1. A controller for a manipulator wherein the manipulator and an environment of the manipulator form a complex, dynamic model with unknown parameter values; the controller comprising: an adaptive feedforward controller and an adaptive feedback controller including means for applying a feedback equation having position and velocity control terms; said feedforward and feedback controllers being independent and multivariable; means for generating an auxiliary signal; means for summing said auxiliary signal and adaptive gains and for outputting a control signal to said manipulator; said feedforward and feedback controllers having adaptive position feedforward and feedback control loops, respectively and adaptive position control means operating in accordance with the following position control law: EQU F.sub.y (t)=f(t)+K.sub.p (t)E.sub.p (t)+K.sub.v (t)E.sub.p (t)+C(t)R(t)+B(t)R(t)+A(t)R(t) wherein R(t) is the desired position trajectory, E.sub.p is the position tracking error, A, B and C are adaptive feedforward gains, K.sub.p and K.sub.v are adaptive feedback gains, f(t) is an auxiliary signal and F.sub.y (t) is an applied force.