Stability of haptic obstacle avoidance and force interaction

— 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.

• Type: Conference
• Year: 2009
• Where: IROS
• Authors: Rolf Johansson, Magnus Annerstedt, Anders Robertsson
• Keywords: IROS 2009, Obstacle Avoidance, Obstacle Avoidance Algorithms, Robotics, Stable