DISCRETE-TIME MODEL REFERENCE ADAPTIVE CONTROL OF ROBOTIC MANIPULATORS

A discrete time model-reference adaptive control algorithm for a robotic manipulator having two degrees of freedom is devised. The angular position of each link of the manipulator may be arbitrarily commanded, subject only to a limitation in available actuator torque. Simulation results show the insensitivity of the position control to changes in parameters and to internal and external disturbances.