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Stability of Haptic Obstacle Avoidance and Force Interaction

Author

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.

Publishing year

2009

Language

English

Pages

3238-3243

Publication/Series

IEEE RSJ International Conference on Intelligent Robots and Systems 2009

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Keywords

  • 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

Project

  • LU Robotics Laboratory
  • ROSETTA
  • Stable Oscillations in Nonlinear Systems 2009-2010

Research group

  • LCCC

ISBN/ISSN/Other

  • ISBN: 978-1-4244-3803-7