A LYAPUNOV-BASED DESIGN TOOL OF IMPEDANCE CONTROLLERS FOR ROBOT MANIPULATORS

被引：0

作者：

Mendoza, Marco ^{[1
]}

Bonilla, Isela ^{[1
]}

Reyes, Fernando ^{[2
]}

Gonzalez-Galvan, Emilio ^{[3
]}

机构：

[1] Univ Autonoma San Luis Potosi, Zona Univ, Fac Ciencias, San Luis Potosi 78290, SLP, Mexico

[2] Benemerita Univ Autonoma Puebla, Fac Ciencias Elect, Grp Robot, Puebla 72570, Pue, Mexico

[3] Univ Autonoma San Luis Potosi, Zona Univ, Fac Ingn, Ctr Invest & Estudios Posgrado, San Luis Potosi 78290, SLP, Mexico

来源：

KYBERNETIKA | 2012年 / 48卷 / 06期

关键词：

impedance control; Lyapunov stability; robot manipulator; LIGHTWEIGHT ROBOT; SCHEMES;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：1136 / 1155

页数：20

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