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Comments on "Adaptive PD controller for robot manipulators

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1 Author(s)
Kelly, R. ; CICESE, Ensenada, Mexico

An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given.<>

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Robotics and Automation, IEEE Transactions on  (Volume:9 ,  Issue: 1 )