A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

Proportional-Derivative (PD) control is one of the most widely used controllers, especially for robot manipulators. When the robot presents gravitational terms, PD control cannot guarantee position convergence, therefore compensation is required such as PD with gravity compensation, PD+G. PD+G contr...

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Bibliographic Details
Main Authors: Adolfo Perrusquia, Juan Alejandro Flores-Campos, Christopher Rene Torres-San-Miguel
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Global asymptotic stability
Lyapunov function
PD control
gravity compensation
tuning
Online Access:https://ieeexplore.ieee.org/document/9122010/

Internet

https://ieeexplore.ieee.org/document/9122010/

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