This research proposes an innovative approach to improve the performance of regulation control systems in manipulators by combining PID control with gravitational compensation using neural networks. In this work, a modified PID control structure that incorporates a gravitational compensation term given by a neural network is introduced, thus allowing a more precise and adaptive response to gravitational and dynamic perturbations of the system. Furthermore, the controller's performance is evaluated through real-time experiments in two manipulators, comparing its performance with the same structure, one without integral action, another without neural compensation and the last one assuming that the gravity vector is known. The results show a significant improvement in system regulation accuracy, demonstrating the proposed controller's effectiveness.
