<abstract xmlns="http://www.w3.org/1999/xhtml"><p> A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot dynamics and NPD controllers, is globally asymptotically stable in position control of robot manipulators. The comparison of the simulation experiments in the position control (the step response) of a robot manipulator with two degrees of freedom is also presented to illustrate that the NPD controller is superior to the conventional PD controller in a position control system. The experimental results show that the NPD controller can obtain a faster response velocity and higher position accuracy than the conventional PD controller in the position control of robot manipulators because the proportional and derivative gains of the NPD controller can be changed by the nonlinear function of errors. The NPD controller provides a novel approach for robot control systems.</p></abstract>

A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional and derivative gains are changed by the nonlinear function of errors in the NPD controller. The closed-loop system, composed of nonlinear robot dynamics and NPD controllers, is globally asymptotically stable in position control of robot manipulators. The comparison of the simulation experiments in the position control (the step response) of a robot manipulator with two degrees of freedom is also presented to illustrate that the NPD controller is superior to the conventional PD controller in a position control system. The experimental results show that the NPD controller can obtain a faster response velocity and higher position accuracy than the conventional PD controller in the position control of robot manipulators because the proportional and derivative gains of the NPD controller can be changed by the nonlinear function of errors. The NPD controller provides a novel approach for robot control systems.

Nonlinear pd controllers with gravity compensation for robot manipulators

Department of Electrical and Information Engineering, Shaoxing University, 508 Huancheng West Road, Shaoxing, Zhejiang 312000, PR China

Cybernetics and Information Technologies

This article is distributed under the terms of the Creative Commons Attribution Non-Commercial License, which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

{"article-title":"Nonlinear pd controllers with gravity compensation for robot manipulators"}

A Nonlinear Proportional-Derivative (NPD) controller with gravity compensation is proposed and applied to robot manipulators in this paper. The proportional...

Nonlinear pd controllers with gravity compensation for robot manipulators

Published Online: Apr 09, 2014

Page range: 141 - 150

DOI: https://doi.org/10.2478/cait-2014-0011

Keywords
Nonlinear proportional-derivative controller, proportional-derivative controller, robot manipulator, position control

© by Jianfeng Huang

This article is distributed under the terms of the Creative Commons Attribution Non-Commercial License, which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

Nonlinear pd controllers with gravity compensation for robot manipulators

Published Online: Apr 09, 2014

Page range: 141 - 150

DOI: https://doi.org/10.2478/cait-2014-0011

KeywordsNonlinear proportional-derivative controller, proportional-derivative controller, robot manipulator, position control

© by Jianfeng Huang

This article is distributed under the terms of the Creative Commons Attribution Non-Commercial License, which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.

Keywords
Nonlinear proportional-derivative controller, proportional-derivative controller, robot manipulator, position control