提出了一种分散自适应机器人机械手控制方案。该控制器具有前馈回路和反馈回路。前馈项是基于计算机的全非线性动力学，其中动态参数在线估计，以排除因未建模机器人动力学和有效载荷变化而可能产生的任何不确定性。反馈项的计算——基于围绕期望轨迹生成的线性扰动模型。该路径中使用了一个线性二次调节器。在反馈路径中加入扩展卡尔曼滤波器，以滤除测量传感器噪声。 通过对2自由度平面机械手的数字计算机仿真，验证了所提出的控制结构。

A DECENTRALIZED ADAPTIVE ROBOT MANIPULATOR CONTROL SCHEME IS PRESENTED IN THIS PAPER. THE PROPOSED CONTROLLER HAS A FEEDFORWARD LOOP AND A FEEDBACK LOOP. THE FEEDFORWARD TERM IS COMPUTER-BASED ON THE FULL NONLINEAR DYNAMICS IN WHICH THE DYNAMIC PARAMETERS ARE ESTIMATED ON-LINE TO REJECT ANY UNCERTAINTY THAT MAY ARISE DUE TO THE UNMODELED ROBOT DYNAMICS AND THE CHANGES IN THE PAYLOAD. THE FEEDBACK TERM IS COMPUTED--BASED ON A LINEAR PERTUBATION MODEL GENERATED AROUND THE DESIRED TRAJECTORY. A LINEAR QUADRATIC REGULATOR IS USED IN THIS PATH. AN EXTENDED KALMAN FILTER IS INCORPORATED IN THE FEEDBACK PATH TO FILTER OUT THE MEASUREMENT SENSOR NOISES. THE PROPOSED CONTROL STRUCTURE IS VERIFIED THROUGH DIGITAL COMPUTER SIMULATION OF A 2 DOF PLANAR MANIPULATOR.