End-effector orientation control of robot manipulators via finite-time P-PI control

Superior performance of nonlinear finite-time P-PI control has been demonstrated in end-effector position control of robot manipulator; however the finite-time P-PI end-effector orientation control is not discussed. In this paper, we propose a finite-time P-PI controller for end-effector orientation control of robot manipulators. By comparing the proposed controller with exponentially stabilizing P-PI controller by experiments, we confirm the effectiveness of the proposed controller.