A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

Authors:
Isela Bonilla;Fernando Reyes;Marco Mendoza;Emilio J. González-Galván
Affiliations:
Centro de Investigación y Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, S.L.P., México 78290;Grupo de Robótica, Facultad de Ciencias de la Electrónica, Benemérita Universidad Autónoma de Puebla, Col. San Manuel, México 72570;Centro de Investigación y Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, S.L.P., México 78290;Centro de Investigación y Estudios de Posgrado, Facultad de Ingeniería, Universidad Autónoma de San Luis Potosí, San Luis Potosí, S.L.P., México 78290
Venue:
Journal of Intelligent and Robotic Systems
Year:
2011

Citing 7
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Abstract

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.