Finite-time PD control of robot manipulators with adaptive gravity compensation

We propose a new PD control using adaptive gravity compensation with a finite-time convergence rate for the position control problem in robot manipulators. The control is an extension of the conventional linear PD control with adaptive gravity compensation for robot manipulators. Theoretical analysis showed that the desired position is finite-time stable when the origin is locally asymptotically stable. Simulations with a two-link manipulator showed that the proposed method achieves higher convergence rate and accuracy than the conventional method.