A Smart Direct Controller for a 3-DOF Robot

In this paper, we present an intelligent controller for position control of a 3DOF robot using a Jacobian-based approach. The core baseline of the controller is established from a conventional PID framework. Control gains are then allowed to vary in a proper way to well suppress internal dynamics and external disturbance in diverse working conditions for minimizing the control objective. The effectiveness and feasibility of the proposed controller are verified throughout simulation and real-time experiments. The controller is simple, robust, adaptive and yields high control performance.