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Hybrid velocity/force control for robot navigation in compliant unknown environments

Published online by Cambridge University Press:  08 August 2006

Dushyant Palejiya  and
Herbert G. Tanner
Dushyant Palejiya
Affiliation:
Mechanical Engineering Department, The University of New Mexico, Albuquerque, NM 87131, USA
Herbert G. Tanner
Affiliation:
Mechanical Engineering Department, The University of New Mexico, Albuquerque, NM 87131, USA
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Abstract

We combine a “hybrid” force-/position-control scheme with a potential field approach into a novel method for collision recovery and navigation in unknown environments. It can be implemented both on manipulators and mobile robots. The use of force sensors allows us to locally sense the environment and design a dynamic control law. Multiple Lyapunov functions are used to establish asymptotic stability of the closed-loop system. The switching conditions and stability criteria are established under reasonable assumptions on the type of obstacles present in the environment. Extensive simulation results are presented to illustrate the system behavior under the designed control scheme, and verify its stability, collision recovery, and navigation properties.

Keywords

Force controlrobot navigationpotential fields
Type
Article
Information
Robotica , Volume 24 , Issue 6 , November 2006 , pp. 745 - 758
Copyright
2006 Cambridge University Press

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