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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1626554
- author
- Johansson, Rolf
LU
and Robertsson, Anders
LU
- organization
- publishing date
- 2009
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- Robot, Force Control, Obstacle Avoidance, Potential Functions, Stability
- host publication
- Preprints 9th International Symposium on Robot Control (SYROCO'09)
- pages
- 709 - 714
- conference name
- 9th IFAC International Symposium on Robot Control
- conference location
- Gifu, Japan
- conference dates
- 2009-09-09
- external identifiers
-
- scopus:85006783278
- project
- RobotLab LTH
- ROSETTA
- Stable Oscillations in Nonlinear Systems 2009-2010
- language
- English
- LU publication?
- yes
- id
- dd5daf66-8df7-4e2c-998b-8c7869a6a818 (old id 1626554)
- date added to LUP
- 2016-04-04 14:00:04
- date last changed
- 2023-04-09 09:02:51
@inproceedings{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}},
booktitle = {{Preprints 9th International Symposium on Robot Control (SYROCO'09)}},
keywords = {{Robot; Force Control; Obstacle Avoidance; Potential Functions; Stability}},
language = {{eng}},
pages = {{709--714}},
title = {{Stability of Robotic Obstacle Avoidance and Force Interaction}},
year = {{2009}},
}