Stability of haptic obstacle avoidance and force interaction

Authors:
Rolf Johansson;Magnus Annerstedt;Anders Robertsson
Affiliations:
Department of Automatic Control, Lund University, Lund, Sweden;Department of Urology, Herlev University Hospital, Herlev, Denmark and Department of Urology, Lund University Hospital, Lund University, Lund, Sweden;Department of Automatic Control, Lund University, Lund, Sweden
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

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.