Stability of Robotic Obstacle Avoidance and Force Interaction

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Abstract

Stability problems associated with robot control with obstacle avoidance are analyzed.Obstacle avoidance algorithms based on potential function are revised to accomplish stable re-design. A stability proof using Lyapunov theory and passivity theory is provided for the re-designed obstacle avoidance algorithm. The paper presents a modification of potential functions for obstacle avoidance aiming towards stable obstacle avoidance and force interaction. The input is modified to permit block decomposition into a strict positive real (SPR) block and a passive high-gain block. This modification suggested involves a velocity-dependent potential-like repulsive force action from the obstacle. Stability proofs using Lyapunov theory and passivity theory as well as simulations demonstrate asymptotic stability, eliminating oscillatory or divergent behaviors.
Original languageEnglish
Title of host publicationPreprints 9th International Symposium on Robot Control (SYROCO'09)
Pages709-714
Publication statusPublished - 2009
Event9th IFAC International Symposium on Robot Control - Gifu, Japan
Duration: 2009 Sep 9 → …

Conference

Conference9th IFAC International Symposium on Robot Control
Country/TerritoryJapan
CityGifu
Period2009/09/09 → …

Subject classification (UKÄ)

  • Control Engineering

Keywords

  • Robot
  • Force Control
  • Obstacle Avoidance
  • Potential Functions
  • Stability

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