A dynamic-compensation approach to impedance control of robot manipulators

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 closedloop system, composed by the combination of the controller and the full nonlinear robot dynamics is, locally, asymptotically stable in agreement with Lyapunov%27s 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. © Springer Science%2bBusiness Media B.V. 2011.
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 closedloop 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. © Springer Science%2bBusiness Media B.V. 2011.

Impedance control; Interaction task; Lyapunov stability; Robot manipulator Asymptotically stable; Direct-drive robot; Dynamic compensation; Equilibrium point; Impedance control; Impedance controllers; Interaction controls; Interaction task; Lyapunov stability; Lyapunov's direct method; Robot dynamics; Robot manipulator; Two-degree-of-freedom; Flexible manipulators; Industrial robots; Modular robots; Robot applications; Controllers

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