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

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2 Author(s)
Zavala-Rio, A. ; Consejo Nacional de Ciencia y Tecnologia, San Luis Potosi ; Santibanez, V.

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

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Control Systems Technology, IEEE Transactions on  (Volume:14 ,  Issue: 5 )