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Stability of Robotic Obstacle Avoidance and Force Interaction

Publiceringsår: 2009
Språk: Engelska
Sidor: 709-714
Dokumenttyp: Konferensbidrag

Sammanfattning

Stability problems associated with robot control with obstacle avoidance are analyzed.Obstacle avoidance algorithms based on potential function are revised to accomplish stable re-design. A stability proof using Lyapunov theory and passivity theory is provided for the re-designed obstacle avoidance algorithm. The paper presents a modification of potential functions for obstacle avoidance aiming towards stable obstacle avoidance and force interaction. The input is modified to permit block decomposition into a strict positive real (SPR) block and a passive high-gain block. This modification suggested involves a velocity-dependent potential-like repulsive force action from the obstacle. Stability proofs using Lyapunov theory and passivity theory as well as simulations demonstrate asymptotic stability, eliminating oscillatory or divergent behaviors.

Disputation

Nyckelord

  • Technology and Engineering
  • Robot
  • Force Control
  • Obstacle Avoidance
  • Potential Functions
  • Stability

Övriga

9th IFAC International Symposium on Robot Control
2009-09-09
Gifu, Japan
Published
Yes
  • LCCC

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