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

Marco Mendoza;  Isela Bonilla;  Fernando Reyes;  Emilio González-Galván — 2012

Kybernetika

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,...

A family of hyperbolic-type control schemes for robot manipulators

Fernando Reyes-Cortes;  Olga Felix-Beltran;  Jaime Cid-Monjaraz;  Gweni Alonso-Aruffo — 2019

Kybernetika

This paper deals with the global position control problem of robot manipulators in joint space, a new family of control schemes consisting of a suitable combination of hyperbolic functions is presented. The proposed control family includes a large class of bounded hyperbolic-type control schemes to drive both position error and derivative action terms plus gravity compensation. To ensure global asymptotic stability of closed-loop system equilibrium point, we propose an energy-shaping based strict...

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