Resumen
This paper compares proposed direct adaptive control techniques for robot manipulators in task space coordinates. High precision tracking control of robot manipulators with unknown load has been analyzed. In task space coordinates, a proposed adaptive controller is compared to direct adaptive techniques presented by Craig and Slotine and Li (Spong, 1996). Each direct adaptive control technique in task space coordinates has been simulated on the same trajectories. Performance, based on tracking errors (position and velocity), trajectory tracking accuracy and unknown parameter estimation is evaluated