A Lyapunov-based design tool of impedance controllers for robot manipulators

Marco Mendoza; Isela Bonilla; Fernando Reyes; Emilio González-Galván

Kybernetika (2012)

  • Volume: 48, Issue: 6, page 1136-1155
  • ISSN: 0023-5954

Abstract

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This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.

How to cite

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Mendoza, Marco, et al. "A Lyapunov-based design tool of impedance controllers for robot manipulators." Kybernetika 48.6 (2012): 1136-1155. <http://eudml.org/doc/251405>.

@article{Mendoza2012,
abstract = {This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.},
author = {Mendoza, Marco, Bonilla, Isela, Reyes, Fernando, González-Galván, Emilio},
journal = {Kybernetika},
keywords = {impedance control; Lyapunov stability; robot manipulator; impedance control; Lyapunov stability; robot manipulator},
language = {eng},
number = {6},
pages = {1136-1155},
publisher = {Institute of Information Theory and Automation AS CR},
title = {A Lyapunov-based design tool of impedance controllers for robot manipulators},
url = {http://eudml.org/doc/251405},
volume = {48},
year = {2012},
}

TY - JOUR
AU - Mendoza, Marco
AU - Bonilla, Isela
AU - Reyes, Fernando
AU - González-Galván, Emilio
TI - A Lyapunov-based design tool of impedance controllers for robot manipulators
JO - Kybernetika
PY - 2012
PB - Institute of Information Theory and Automation AS CR
VL - 48
IS - 6
SP - 1136
EP - 1155
AB - This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two challenges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full nonlinear robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.
LA - eng
KW - impedance control; Lyapunov stability; robot manipulator; impedance control; Lyapunov stability; robot manipulator
UR - http://eudml.org/doc/251405
ER -

References

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