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Stability of Robotic Obstacle Avoidance and Force Interaction

Johansson, Rolf LU and Robertsson, Anders LU (2009) 9th IFAC International Symposium on Robot Control p.709-714
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... (More)
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. (Less)
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author
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Robot, Force Control, Obstacle Avoidance, Potential Functions, Stability
pages
709 - 714
conference name
9th IFAC International Symposium on Robot Control
project
ROSETTA
language
English
LU publication?
yes
id
dd5daf66-8df7-4e2c-998b-8c7869a6a818 (old id 1626554)
date added to LUP
2010-07-01 09:15:30
date last changed
2016-04-16 11:57:40
@misc{dd5daf66-8df7-4e2c-998b-8c7869a6a818,
  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.},
  author       = {Johansson, Rolf and Robertsson, Anders},
  keyword      = {Robot,Force Control,Obstacle Avoidance,Potential Functions,Stability},
  language     = {eng},
  pages        = {709--714},
  title        = {Stability of Robotic Obstacle Avoidance and Force Interaction},
  year         = {2009},
}