A Model Reference Adaptive Control with Nonlinear Compensation for Robot Manipulators

A model reference adaptive control with nonlinear compensation for robot manipulators is proposed in this paper. The adaptive control proposed enables to cope with the complex manipulator dynamics like wide variations in its payload and spatial configulation, guarantees the stability of the overall system automatically without requiring any additional stability analysis, compensates inherent nonlinearity like coulomb friction effectively and requires a simple computation structure which provides the capability of real-time control calculation with today´s microcomputers.