Design of a control algorithm for a robot manipulator with constant gains

Abstract

This paper presents a new control algorithm of constant gains for a Proportional Derivative controller with gravity compensation. The problem of position control of manipulator robots in the joint space is solved with the proposed control algorithm. To abord the previously mentioned problem, the energy shaping technique is used. For the development of the algorithm, constant gains were used. The algorithm design is focused on three DOF robots as an experimental platform. The main characteristic of the proposed control scheme is that the algorithm generates bounded torques. The servo actuators of the robot are kept within their physical limits avoiding the saturation zone. To carry out the control structure, a Lyapunov function is proposed. It is shown that there is a point of equilibrium such that it is unique and stable based on the proposed function. To illustrate the performance of the design, simulations were made, and results are placed in the function of error. Designing and implementing control algorithms makes it possible to test performances in manipulative robots, giving the possibility of choosing one that meets the needs of the operators.