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In the present paper, we propose an explicit design procedure for selecting the proportional and derivative gains of the PD control with computed feedforward of robot manipulators. The proposed procedure, which is easily obtained from the robot dynamics and desired trajectory, assures that the closed-loop system has an unique equilibrium point. In addition, this equilibrium turns out to be (locally) exponentially stable. Simulation tests are included, with reference to a robot having two degrees of freedom.>
Kelly et al. (Sat,) studied this question.