Passivity-based controllers for periodic motions of multi-joint robots with impact phenomena

This paper proposes passivity-based controllers for periodic motions of multi-joint robots with impact phenomena. Even the robot motions with impact phenomena have complex dynamics, we try to analyze stability of the controlled systems by adopting some assumptions and using Lyapunov-like functions. At first, we present a passivity-based feedback controller. Secondly, we present a repetitive controller based on passivity-based iterative learning control. These controllers generate desired periodic motions, which are specified by users of the controllers. Advantages of the proposed controllers are to works well without using exact parameter values of the controlled systems nor huge numerical calculations.