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ROBOTICA
2006

Hybrid velocity/force control for robot navigation in compliant unknown environments

9 years 3 months ago
Hybrid velocity/force control for robot navigation in compliant unknown environments
We combine a "hybrid" force/position control scheme with a potential field approach into a novel method for collision recovery and navigation in unknown environments. It can be implemented both on manipulators and mobile robots. The use of force sensors allows us to locally sense the environment and design a dynamic control law. Multiple Lyapunov functions are used to establish asymptotic stability of the closed loop system. The switching conditions and stability criteria are established under reasonable assumptions on the type of obstacles present in the environment. Extensive simulation results are presented to illustrate the system behavior under designed control scheme, and verify its stability, collision recovery and navigation properties. 1
Dushyant Palejiya, Herbert G. Tanner
Added 15 Dec 2010
Updated 15 Dec 2010
Type Journal
Year 2006
Where ROBOTICA
Authors Dushyant Palejiya, Herbert G. Tanner
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