Self-adaptive PD control of robot manipulator

In the first place mathematic model of manipulator is established according to the dynamic theories. Then self-adaptive PD controller is designed in lined with its disturbance's supremum which is not ascertain. The self-adaptive PD controller could make the systems' PD feedback control take main effects, which could avoid too large initial torque while the initial errors is large at first. while the disturbances errors decrease the self-adaptive controller take predominance acts to make the systems have good dynamic performances.