Abstract
An alternative analysis that does not invoke the LaSalle invariance principle of the PD proportional-differential controller with gravity compensation for robots, presented in the above-titled paper by P. Tomei (ibid., vol.7, no.4, p.565-70, Aug. 1991) is established. The result is used to develop straightforwardly a new PD controller with adaptive gravity compensation, and conditions to ensure closed-loop stability and global zero position error convergence are given. >
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