Aiming at the trajectory tracking of the robot manipulator

a robust adaptive PD control strategy for robot manipulators is proposed.The drawback of the initial output torque oversize is avoided.Considering that the controller consists of non-linear compensation control and PD feedback control

uncertain dynamic of the robot manipulator is compensated by the adaptive controller

which constituted by regression matrix

the motion control of manipulator is realized.The effect of control strategy is verified by the computer simulation results

and could accurately track the desired trajectory.