Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model

This paper presents a task-space saturated-proportional, integral and differential (SP-ID) regulation approach for robot manipulators with uncertain kinematics and actuator model. The proposed approach is computationally efficient and easy to implement due to its simple structure. It´s interesting to observe that in this paper the simple PID type controller is shown not only capable of compensating unknown gravity force, as has been known for long in robot control literature, but also capable of dealing with uncertainties in robot kinematics and actuator model. Sufficient conditions to guarantee system stability are provided and simulation results are presented to show the performance of proposed control method