Title :
Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs
Author :
Zavala-Río, Arturo ; Santibáñez, Víctor
Author_Institution :
Consejo Nacional de Ciencia y Tecnologia, San Luis Potosi
Abstract :
This brief proposes two alternative approaches for the global regulation of robot manipulators with input saturations. They prove to be simple extensions of the PD-with-gravity-compensation (PDgc) control law to the bounded-input case. Moreover, they turn out to be in a better position to approach (within the restricted range of the control variables) a PDgc control signal than other algorithms previously proposed under the same analytical framework. Closed-loop performance improvements are, therefore, obtained through their implementation. This is corroborated through experimental results
Keywords :
PD control; closed loop systems; compensation; manipulators; position control; PD-with-gravity-compensation control law; bounded-input case; global regulation; robot manipulators; saturation functions; Actuators; Algorithm design and analysis; Associate members; Control systems; Gravity; Manipulators; Robot control; Signal analysis; Trajectory; Velocity measurement; Bounded inputs; global regulation; robot control; saturation functions;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2006.876932