Design and Computation Aid of Command Gains for the Position Control of Manipulator Robots

There are different types of commands dedicated to solving the position control problem of robotic systems in engineering applications. Such control problem consists in moving the robot from its actual position to a desired one. In this work, we adopt three different types of control laws to control the position of manipulator robots and develop conditions aiding to the computation of the gains of these controllers. First, we adopt an affine PD-based control law designed via the approximated linear dynamic model. Furthermore, we adopt the PD controller with gravity compensation and the PD controller with desired gravity compensation. Moreover, we use the Lyapunov method and the contraction mapping to determine the condition on the feedback gains ensuring the stabilization of the controlled manipulator robot at the desired position. Finally, as an illustrative example, we adopt a manipulator robot with two degrees of freedom to reveal the effectiveness of different design conditions in solving the position control problem.