Journal of Intelligent & Robotic Systems

, Volume 63, Issue 1, pp 51–73 | Cite as

A Dynamic-compensation Approach to Impedance Control of Robot Manipulators

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


This paper presents an impedance–control strategy with dynamic compensation for interaction control of robot manipulators. The proposed impedance controller has been developed considering that the equilibrium point of the closed-loop system, composed by the combination of the controller and the full nonlinear robot dynamics is, locally, asymptotically stable in agreement with Lyapunov’s direct method. The performance of the proposed controller is verified through simulation and experimental results obtained from the implementation of an interaction task involving a two degree-of-freedom, direct-drive robot.


Impedance control Interaction task Lyapunov stability Robot manipulator 

Mathematics Subject Classifications (2010)

MSC 93D05 


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Copyright information

© Springer Science+Business Media B.V. 2010

Authors and Affiliations

  • Isela Bonilla
    • 1
  • Fernando Reyes
    • 2
  • Marco Mendoza
    • 1
  • Emilio J. González-Galván
    • 1
  1. 1.Centro de Investigación y Estudios de Posgrado, Facultad de IngenieríaUniversidad Autónoma de San Luis PotosíSan Luis Potosí, S.L.P.México
  2. 2.Grupo de Robótica, Facultad de Ciencias de la ElectrónicaBenemérita Universidad Autónoma de PueblaCol. San ManuelMéxico

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