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

Adolfo Perrusquia, Juan Alejandro Flores-Campos, Christopher Rene Torres-San-Miguel

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

Abstract

© 2013 IEEE. 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 control requires knowledge of the gravitational term and there exist several results that prove global asymptotic stability. However, there is no method to tune the PD gains. In this work, a novel method to tune the PD+G controller is proposed. The tuning method is obtained using the global asymptotic stability result of the La Salle's theorem and robot dynamics properties. A comparison between previous works is realized via simulations and experiments to verify our approach. The results show fast and smooth convergence to the desired reference without overshoots.
Original languageAmerican English
Pages (from-to)114773-114783
Number of pages11
JournalIEEE Access
DOIs
StatePublished - 1 Jan 2020

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