Kinesthetic Guidance Based on PID Control for Haptic Interaction

In this paper a PID control applied particularly in robot manipulators. To understand the development of the proposal presents a mathematical preliminary section we used, we explicitly describe relevant aspects of kinematics and dynamics of the haptic device Phantom Premium 1.0, technology and mathematical models, and the design and experimental results of PID control based on passivity, the type of state feedback, variable structure adaptation and sub-optimization. It also presents a test design for stability in the sense of Lyapunov.