Variable Control Gains for P-D Controller for Robot Manipulators

In this work we present the problem of tuning gains for type P-D controller with gravity compensation on a robot of three degrees of freedom. A function for the proportional and derivative gains modifies the amplitude to be adjusted depending on the value of the variables on which it depends. We present the demonstration of stability for the controller. Experimental results of the proposed controller are presented, and a comparison between the data and the data obtained in a previous study was presented.