Study on payload effects on the joint motion accuracy of serial mechanical mechanisms

Robotic manipulators have been widely used in many arenas, when the robotic arm performs positioning, a traditional controller (e.g., a proportional-integral-derivative, PID controller) has the problem of not being able to compensate the payload variations. When the end-effector of the robotic arm grasps different payload masses as most applications require, the output of joint motion will vary under different payload masses, which will decrease the end-effector positioning accuracy of the robotic arm system. Based on the model reference adaptive control technique, the payload variation effect can be solved, therefore improving the positioning accuracy. This paper studies payload effects on the joint motion accuracy of serial mechanical mechanisms.