Simple extensions of the PD-with-gravity-compensation control law for robot manipulators with bounded inputs

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