Nonlinear pd controllers with gravity compensation for robot manipulators
A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Sciendo
2014-03-01
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| Series: | Cybernetics and Information Technologies |
| Subjects: | |
| Online Access: | https://doi.org/10.2478/cait-2014-0011 |