A dynamic-compensation approach to impedance control of robot manipulators

DOI10.1007/S10846-010-9476-XMaRDI QIDQ444733zbMATH OpenOpenAlexFDO

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

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

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

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Cites work

• scientific article; zbMATH DE number 5184402 (Why is no real title available?)
• scientific article; zbMATH DE number 932229 (Why is no real title available?)
• A New Feedback Method for Dynamic Control of Manipulators
• An adaptive impedance/force controller for robot manipulators
• Control of contact problem in constrained Euler-Lagrange systems
• Direct adaptive impedance control of robot manipulators
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Matrix Analysis
• Modelling and control of robot manipulators.
• Nonlinear systems.
• On the Robot Compliant Motion Control
• Theory of robot control

Cited in

(20)

• Impedance Control: An Approach to Manipulation: Part III—Applications
• Robust impedance control of robot manipulators using differential equations as universal approximator
• Robot manipulator control system with dynamic moment compensation
• A novel path planning and control framework for passive resistance therapy with a robot manipulator
• An adaptive impedance/force controller for robot manipulators
• Impedance Control: An Approach to Manipulation: Part I—Theory
• Robust impedance control for SEAs
• Adaptive backstepping sliding mode control of trajectory tracking for robotic manipulators
• Impedance Control: An Approach to Manipulation: Part II—Implementation
• Experimental implementation of impedance based control schemes for assembly task
• The adaptive impedance control of bimanual manipulators based on function approximation techniques
• The position-based impedance control combined with compliance-eliminated and feedforward compensation for HDU of legged robot
• scientific article; zbMATH DE number 6671522 (Why is no real title available?)
• scientific article; zbMATH DE number 6132695 (Why is no real title available?)
• A rigorous framework for interactive robot control
• Impedance control of robots using voltage control strategy
• Robot impedance control with nondiagonal stiffness
• Adaptive variable impedance control for a modular soft robot manipulator in configuration space
• Immersion and invariance-based impedance control for electrohydraulic systems
• Robot impedance control and passivity analysis with inner torque and velocity feedback loops

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