Stability of Haptic Obstacle Avoidance and Force Interaction

Summary, in English

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.

• Författare: Rolf Johansson; Magnus Annerstedt; Anders Robertsson
• Avdelning/ar: Institutionen för reglerteknik
• Publiceringsår: 2009
• Språk: Engelska
• Sidor: 3238-3243
• Publikation/Tidskrift/Serie: IEEE RSJ International Conference on Intelligent Robots and Systems 2009
• Fulltext: - 158 kB; Download statistics
• Länkar: http://dx.doi.org/10.1109/IROS.2009.5354414
• Dokumenttyp: Konferensbidrag
• Förlag: IEEE - Institute of Electrical and Electronics Engineers Inc.
• Ämne: Control Engineering
• Nyckelord: Passivity; Obstacle avoidance; Haptics; Force Control; Potential Functions; Robot; Stability
• Conference name: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
• Conference date: 2009-10-11
• Conference place: St. Louis, United States
• Status: Published
• Projekt: LU Robotics Laboratory; ROSETTA; Stable Oscillations in Nonlinear Systems 2009-2010
• Forskningsgrupp: LCCC
• ISBN/ISSN/Övrigt: ISBN: 978-1-4244-3803-7