Experimental-Performance Analysis of an Impedance-Control Approach for Robot Manipulators

M. Mendoza, I. Bonilla, E. González-Galván, and F. Reyes (Mexico)


Impedance Control, Interaction Task, Lyapunov Stability, Robot Manipulator.


This paper presents a new impedance-control approach for interaction control of robot manipulators. The asymptotic stability of the system, composed by full nonlinear robot dynamics and the impedance controller, is demonstrated according to Lyapunov’s direct method. Two impedance controllers were proposed and their performance was compared through the real-time experimental implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.

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