Abstract
The article focuses on the development of an adaptive control system for a manipulator to enhance accuracy and stability under parameter uncertainties and external disturbances. The proposed algorithm adjusts system parameters without interrupting operation, effectively responding to slow parameter variations. A comparison was conducted with a PD controller and a torque control regulator. Experiments on a high-speed robot with two degrees of freedom confirmed the algorithm’s high tracking accuracy and robustness against loads, noise, and unmodeled dynamics. The method demonstrates significant improvements in engineering efficiency and holds promise for robotics applications.