Improving performance of saturation-based PID controllers for rigid robots

In this paper we concerned with PID controllers for rigid robots whose integral term is driven by a saturation function. We introduce a new tuning procedure with particular conditions that have to be satisfied at each joint. We found that this novel approach relaxes Tomei's condition on the proportional gains which also relaxes conditions on integral gains. We show, through simulations, that important performance improvement is achieved with respect to previous tuning procedures.