Input-to-State Stability of Variable Impedance Control for Robotic Manipulator

Variable Impedance Control of Manipulator Robots Applied to Orthopedic Surgery

The main goal of this work is to use an impedance controller, implemented in a manipulator robot, with the aim of performing in orthopedic surgery. At first, some of the main progresses in robotic surgery are introduced as well as the possible application of this methodology in orthopedic surgery, namely in Hip Resurfacing. Then, the studied force controllers, namely the Impedance Control, some...

Variable Structure Position Control of an Industrial Robotic Manipulator

The use of a robust position controller for a robotic manipulator moving in free space is presented. The aim is to implement in practice a controller that is robust to uncertainties in the model of the system, as well as being inexpensive from a computational point of view. Variable structure theory provides the technique for the design of such controller. The design steps are presented, first ...

Bio-mimetic impedance control of robotic manipulator for dynamic contact tasks

A human performs a variety of skillful movements by adjusting dynamic characteristics of his or her musculoskeletal system according to a task involved. Such characteristics of human movements can be described by mechanical impedance parameters. If the regulation mechanism of human impedance properties during the task can be clarified and modeled, there is a possibility that human skillful stra...

Input-to-state stability of infinite-dimensional control systems

We develop tools for investigation of input-to-state stability (ISS) of infinite-dimensional control systems. We show that for certain classes of admissible inputs the existence of an ISS-Lyapunov function implies the inputto-state stability of a system. Then for the case of the systems described by abstract equations in Banach spaces we develop two methods of construction of local and global I...

Input-to-state stability of networked control systems