Model reference adaptive control of industrial robots with actuator dynamicsModel reference adaptive control of industrial robots with actuator dynamics Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2015-10-141989enIn this work the complete nonlinear dynamic model of a robotic manipulator is considered together with its actuators' (dc motors' ) dynamics. A control law of the robotic system is developed based on the well known 'model reference adaptive control: MRAC' approach. An exhaustive study of a decoupled reference model of the whole robotic system is proposed which possesses strong stability properties.The paper is completed by some simulation results on trajectory following control of a 3-link manipulator. http://creativecommons.org/licenses/by/4.0/Journal of Information and Optimization Sciences310423-444 Stavrakakis Georgios Σταυρακακης Γεωργιος Tzafestas, S. G Kinematics of robots Robot kinematics robots kinematics kinematics of robots robot kinematics