Improving Haptic Device Stability through Redundancy Resolution

Abstract

Employing robot redundancy is proposed for increasing the stability domain of haptic interfaces during interaction with stiff virtual environments. To this end, non-strict priority allocation is accomplished. Haptic device (HD) joint space is searched by Artificial Bee Colony (ABC) optimization algorithm to find the most stable configuration in a specific end-effector position. Sensor quantization along with viscosity and Coulomb friction in robot joints are considered in the redundant HD model without any conservative assumption. A verified 1-DOF simplified model is employed for stability analysis. The method is evaluated by studying KUKA LWR IV as a redundant HD in MATLAB.