Analysis and comparative study of reference based adaptive control system for serial mechanisms

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. 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. Advances and issues of the model reference adaptive control for serial robotic mechanisms are presented in this paper. Some existing methods for the model reference adaptive control design issues are discussed and compared to further summarize and improve the methodologies in the model reference adaptive control of serial robotic mechanisms. Very few recent papers can be found in the area of model reference adaptive control of robotic manipulators, this paper will provide a guideline for future research in the direction of model reference adaptive control for robotic mechanisms.