A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

被引：19

作者：

Bonilla, Isela ^{[1
]}

Reyes, Fernando ^{[2
]}

Mendoza, Marco ^{[1
]}

Gonzalez-Galvan, Emilio J. ^{[1
]}

机构：

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

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

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2011年 / 63卷 / 01期

关键词：

Impedance control; Interaction task; Lyapunov stability; Robot manipulator; COMPLIANT MOTION; FORCE TRACKING; SCHEMES;

D O I：

10.1007/s10846-010-9476-x

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents an impedance-control strategy with dynamic compensation for interaction control of robot manipulators. The proposed impedance controller has been developed considering that the equilibrium point of the closed-loop system, composed by the combination of the controller and the full nonlinear robot dynamics is, locally, asymptotically stable in agreement with Lyapunov's direct method. The performance of the proposed controller is verified through simulation and experimental results obtained from the implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.

引用

页码：51 / 73

页数：23

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