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In this work, two globally stabilizing bounded controllers for the tracking control of robot manipulators with saturating inputs are proposed. They may be seen as extensions of the so-called PD+ algorithm to the bounded input case. With respect to previous works, our approaches give a global solution to the problem through static feedback. Moreover, they are not defined using a specific sigmoidal function, but any one on a set of saturating functions. Furthermore, the bound of such functions is explicitly considered in their definition. Hence, the control gains are not tied to satisfy any saturation-avoidance inequality and may consequently take any positive value. The efficiency of the proposed schemes is corroborated through experimental results.

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