Kybernetika 48 no. 6, 1136-1155, 2012

A Lyapunov-based design tool of impedance controllers for robot manipulators

This article was granted Editor's award of the year 2012Editor's award 2012

Marco Mendoza, Isela Bonilla, Fernando Reyes and Emilio González-Galván


This paper presents a design tool of impedance controllers for robot manipulators, based on the formulation of Lyapunov functions. The proposed control approach addresses two cha\-llen\-ges: the regulation of the interaction forces, ensured by the impedance error converging to zero, while preserving a suitable path tracking despite constraints imposed by the environment. The asymptotic stability of an equilibrium point of the system, composed by full non\-li\-near robot dynamics and the impedance control, is demonstrated according to Lyapunov's direct method. The system's performance was tested through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.


impedance control, Lyapunov stability, robot manipulator


68T40, 93C85, 93D05


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