– This paper aims to address a new iterative tuning method of PID control for robot manipulators.
– This tuning method uses several properties of the robot control, such as any PD control can stabilize a robot in regulation case, the closed-loop system of PID control can be approximated by a linear system, the control torque to the robot manipulator is linearly independent of the robot dynamic.
– Compared with the other PID tuning methods, this novel method is simple, systematic, and stable. The transient properties of this PID control are better than the other normal PID controllers.
– In this paper, a new systematic tuning method for PID control is proposed. The paper applies this method on an upper limb exoskeleton, and real experiment results give validation of our PID tuning method.
