A dynamic-compensation approach to impedance control of robot manipulators

DOI10.1007/S10846-010-9476-XzbMath1245.93081OpenAlexW2023289907MaRDI QIDQ444733

Emilio J. González-Galván, Marco Mendoza, Fernando Reyes, Isela Bonilla

Publication date: 23 August 2012

Published in: Journal of Intelligent \& Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s10846-010-9476-x

zbMATH Keywords

Lyapunov stabilityrobot manipulatorimpedance controlinteraction task

Mathematics Subject Classification ID

Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05) Automated systems (robots, etc.) in control theory (93C85)

Related Items (1)

Adaptive backstepping sliding mode control of trajectory tracking for robotic manipulators

Cites Work

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• Theory of robot control
• Modelling and control of robot manipulators.
• On the Robot Compliant Motion Control
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Matrix Analysis
• A New Feedback Method for Dynamic Control of Manipulators
• An adaptive impedance/force controller for robot manipulators
• Direct adaptive impedance control of robot manipulators
• Control of contact problem in constrained Euler-Lagrange systems

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