Stability of Haptic Obstacle Avoidance and Force Interaction
Publikation/Tidskrift/Serie: IEEE RSJ International Conference on Intelligent Robots and Systems 2009
Förlag: IEEE--Institute of Electrical and Electronics Engineers Inc.
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.
- Control Engineering
- Obstacle avoidance
- Force Control
- Potential Functions
2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
- ISBN: 978-1-4244-3803-7