Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments

Tomas Olsson; Rolf Johansson; Anders Robertsson

Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments

Tomas Olsson, Rolf Johansson, Anders Robertsson

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Book chapter › Research

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Abstract

When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the contact transition.Stability of the system is shown using an observer-based backstepping design method, and simulations are performed in order to validate the chosen approach.

Original language	English
Title of host publication	Dynamical Vision
Publisher	Springer
Pages	299-313
Volume	4358
ISBN (Print)	978-3-540-70931-2
Publication status	Published - 2007

Publication series

Name
Volume	4358

Subject classification (UKÄ)

Control Engineering

Access to Document

37

http://vision.jhu.edu/iccv2005-wdv/37.pdf

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RobotLab LTH
Bagge Carlson, F. (Researcher), Johansson, R. (Researcher), Karlsson, M. (Researcher), Olofsson, B. (Researcher), Robertsson, A. (Researcher), Robertz, S. (Researcher), Haage, M. (Researcher), Malec, J. (Researcher), Nilsson, K. (Researcher), Nugues, P. (Researcher), Stenmark, M. (Researcher), Topp, E. A. (Researcher), Krueger, V. (Researcher), Åström, H. (Researcher), Mayr, M. (Researcher), Salt Ducaju, J. (Researcher), Nishimura, M. (Administrator), Wisbrant, J. (Project communication officer), Dürr, A. (Researcher), Mayr, M. (Researcher), Nugues, P. (Researcher), Klang, M. (Research engineer), Klöckner, M. (Researcher), Nardi, L. (Researcher), Ahmad, F. (Researcher), Oxenstierna, J. (Researcher), Rizwan, M. (Researcher), Reichenbach, C. (Researcher), Bergström, J. (Researcher), Dell'Unto, N. (Researcher), Maunsbach, L. (Researcher), Åström, K. (Researcher), Blomdell, A. (Research engineer), Magnusson, M. (Researcher), Fransson, P.-A. (Researcher), Karayiannidis, Y. (Researcher), Johansson, A. T. (Researcher), Jia, Z. (Researcher), Laban, L. (Researcher), Wingqvist, B. (Researcher), Guberina, M. (Researcher), Jena, A. (Researcher), Westin, E. (Administrator), Frick, C. (Administrator), Pisarevskiy, A. (Research engineer), Nilsson, A. (Research engineer), Reitmann, S. (Researcher), Hvarfner, C. (Researcher), Stoltenberg, P. (Researcher) & Fregnan, S. (Researcher)
1993/01/01 → …
Project: Research
FlexAA
Johansson, R. (PI) & Nilsson, K. (PI)
2004/01/01 → 2006/12/31
Project: Research

RobotLab LTH Infrastructure
Krueger, V. (Manager), Olofsson, B. (Manager), Karayiannidis, Y. (Manager), Haage, M. (Manager), Malec, J. (Manager) & Topp, E. A. (Manager)
Faculty of Engineering, LTH
Infrastructure

Cite this

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title = "Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments",

abstract = "When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the contact transition.Stability of the system is shown using an observer-based backstepping design method, and simulations are performed in order to validate the chosen approach.",

author = "Tomas Olsson and Rolf Johansson and Anders Robertsson",

year = "2007",

language = "English",

isbn = "978-3-540-70931-2",

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publisher = "Springer",

pages = "299--313",

booktitle = "Dynamical Vision",

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TY - CHAP

T1 - Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments

AU - Olsson, Tomas

AU - Johansson, Rolf

AU - Robertsson, Anders

PY - 2007

Y1 - 2007

N2 - When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the contact transition.Stability of the system is shown using an observer-based backstepping design method, and simulations are performed in order to validate the chosen approach.

AB - When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the contact transition.Stability of the system is shown using an observer-based backstepping design method, and simulations are performed in order to validate the chosen approach.

M3 - Book chapter

SN - 978-3-540-70931-2

VL - 4358

SP - 299

EP - 313

BT - Dynamical Vision

PB - Springer

ER -

Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments

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