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