A NATURAL EXTENSION OF THE PD-WITH-DESIRED-GRAVITY-COMPENSATION CONTROL LAW FOR ROBOT MANIPULATORS WITH INPUT SATURATIONS

摘要

This work proposes a natural saturating extension of the PD with desired gravity compensation (PDdgc) control law for the global regulation of robot manipulators with bounded inputs. Compared to other algorithms previously proposed under the same analytical framework, it proves to be advantageous in several senses. First, it involves a single saturation function at each joint. Second, it does not need to discriminate the terms that shall be bounded since these are simply all of them included within the only saturation involved at every joint. Performance improvements with respect to previously proposed saturating approaches are corroborated through experimental results.