Robust Impedance Control-Based Lyapunov-Hamiltonian Approach for Constrained Robots
A new design of a robust impedance controller for constrained robotic manipulators is presented. The main objective is to stabilize asymptotically, in the task space, the robotic manipulator's end effectors into a desired position, via a desired contact force under model uncertainties and measu...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2015-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/61992 |