Robust saturated PI joint velocity control for robot manipulators

It is well known that many industrial manipulators use an embedded linear proportional-integral (PI) joint velocity controller to guarantee motion control through proper velocity commands. However, although this control scheme has been very successful in practice, not much attention has been paid to designing new PI velocity control structures. The problem of analyzing a saturated PI velocity joint velocity controller is addressed in this paper. By using the theory of singularly perturbed systems, the closed-loop system is studied. The robot dynamics assumed in this paper take into account bounded time-varying disturbances which may include the friction at the joints. An experimental study in a planar two degrees-of-freedom direct-drive robot is also presented, confirming the advantage of the new saturated PI joint velocity controller.