1A1-L05 Position/Attitude Control of Robotic Manipulators with Exponential Convergence after Torque Saturation(New Control Theory and Motion Control)

Abstract

This paper presents an algorithm for the control of the position and the orientation of the end-effector of a rigid-link manipulator. The control algorithm is an extension of PID control, and ensures smooth, exponential resuming motion from large positional/orientational errors that result in the saturation in the actuator torques.