A novel adaptive PID control algorithm is proposed for trajectory tracking of robot manipulators with only position measurements

limited torques

modeling uncertainties and disturbances.A high precise filter is used to estimate the joint velocity of the manipulators

a controller with saturation function is used to restrict the torque output

and an adaptive PID controller is used to compensate the modeling uncertainties and disturbances.The stability of the system is guaranteed using the Lyapunov direct method.The simulation results based on a two-joint robot manipulator show that the presented controller performs well in application.