ANALYSIS AND A CASE STUDY OF MODEL REFERENCE ADAPTIVE CONTROL FOR ROBOTIC MECHANISMS

Motion control accuracy of robotic manipulators affects the overall robotic system performance. When the end-effector grasps different payloads, the joint motion of robotic manipulators will vary depending on the different payload masses. Traditional controllers have the problem of not being able to compensate the payload variation effect. Model reference adaptive control has been proposed to address the above problem. This paper discusses the model reference adaptive control of robotic manipulators initially raised by Roberto Horowitz and its associated development by other authors. A case study for a hybrid controller, which is derived from the model reference adaptive control system, is presented. Very few recent papers can be found in the area of model reference adaptive control of robotic manipulators, and this study can provide a guideline for future research in the direction of model reference adaptive control for robotic arms.