Robot model reference adaptive control through lower/upper part dynamic decouplingRobot model reference adaptive control through lower/upper part dynamic decoupling Peer-Reviewed Journal Publication Δημοσίευση σε Περιοδικό με Κριτές 2015-10-141988enA method for controlling a 6-degrees-of-freedom robotic manipulator based on a decomposition of its full dynamical model in two 3-degrees-of-freedom submodels (one for the lower part and one for the upper part) is presented. The lower-part (arm) submodel takes into account the effect of the upper part (wrist) and of the robot task requirements, in the form of an external force/torque pair expressed in tool coordinates. The influence of the robot task is similarly included in the wrist dynamic model. The control algorithm is of the model reference adatpvie (MRAC) type which is actually a nonlinear proportional plus integral (PI) algorithm. Based on previous results a simplified MRAC controller is derived which needs less computational effort for its tuning. As a simulator of the 6-degrees-of-freedom manipulator, the exact dynamic Newton-Euler model is used. The paper includes a number of computational experimental results which show the effectiveness of the method.http://creativecommons.org/licenses/by/4.0/Journal of Intelligent and Robotic Systems21163-184 Stavrakakis Georgios Σταυρακακης Γεωργιος Tzafestas, Spyros G., 1939- A. Zagorianos Kluwer Kinematics of robots Robot kinematics robots kinematics kinematics of robots robot kinematics