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Stability of Haptic Obstacle Avoidance and Force Interaction

Publiceringsår: 2009
Språk: Engelska
Sidor: 3238-3243
Publikation/Tidskrift/Serie: IEEE RSJ International Conference on Intelligent Robots and Systems 2009
Dokumenttyp: Konferensbidrag
Förlag: IEEE


Stability problems associated with haptics and robot control with obstacle avoidance are analyzed. Obstacle avoidance algorithms are revised to accomplish stable redesign using absolute stability and passivity theory. A modification of potential functions for haptic rendering and obstacle avoidance allowing stable operation for high stiffness is proposed. The modification leads to velocity-dependent potential-like repulsive stable haptic force interaction with obstacles. Using strictly positive real re-design, stable force interaction can be provided also for high stiffness of manipulated objects or obstacles.



  • Technology and Engineering
  • Passivity
  • Obstacle avoidance
  • Haptics
  • Force Control
  • Potential Functions
  • Robot
  • Stability


2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
St. Louis, USA
  • LCCC
  • ISBN: 978-1-4244-3803-7

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