Gain selection for an independent joint MRAC (Model-Reference Adaptive Controller) for robotic manipulators

This paper discusses how the gains of an independent Model-Reference Adaptive Controller should be set for robotic/telerobotic applications. Potential vibrational problems and their reduction will be discussed. This type of controller can be easily added to a conventional PD Controller with minimum software changes. 16 refs., 2 figs., 1 tab.