Obstacle avoidance control based on an harmonic potential field.

The approach presented in this paper is based on two ideas: i) on the planning level an electrostatic potential field in configuration space of the robot is used. The generalized force curves are attractive to the goal point avoiding obstacles without local minima; ii) on the control level using the motion division method allowing decompose the problem of control syntheses on independently decided subproblems of smaller dimensionality for robot with elastic joints. Presents the control algorithms in the class of systems with discontinuous controls and high coefficients control, which provides precise tracking of the reference trajectories and the system is robust to parameter variations and external disturbances.