Discussion on model reference adaptive control of robotic manipulators

Motion control accuracy of robotic manipulators affects the overall robotic system performance. When the end-effector grabs 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 the scholar Roberto Horowitz and its associated development by other authors. Some issues of model reference adaptive control (MRAC) for robotic manipulators are presented. Very few recent papers can be found in the area of model reference adaptive control of robotic manipulators, and this paper will provide a guideline for future research in the direction of model reference adaptive control for robotic arms.