A dynamic-compensation approach to impedance control of robot manipulators

Journal of Intelligent and Robotic Systems: Theory and Applications

Volumn 63, Issue 1, 2011, Pages 51-73

  Bonilla, Isela ^a   Reyes, Fernando ^b   Mendoza, Marco ^a   González Galván, Emilio J ^a  

^a UNIVERSIDAD AUTÓNOMA DE SAN LUIS POTOSÍ   (Mexico)

^b BENEMÉRITA UNIVERSIDAD AUTÓNOMA DE PUEBLA   (Mexico)

Author keywords

Impedance control; Interaction task; Lyapunov stability; Robot manipulator

Indexed keywords

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;

EID: 80051692698     PISSN: 09210296     EISSN: 15730409     Source Type: Journal    
DOI: 10.1007/s10846-010-9476-x     Document Type: Article

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