# A Novel Tuning Method of PD With Gravity Compensation Controller for Robot Manipulators

> Research article (IEEE Access, 2020) · cited 34× · AI/ML

**Wikidata**: [openalex:W3035869439](https://www.wikidata.org/wiki/openalex:W3035869439)  
**Source**: https://4ort.xyz/entity/a-novel-tuning-method-of-pd-with-gravity-compensation-controller-for-robot-manipulators