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

Research output: Chapter in Book/Report/Conference proceedingBook chapter

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.

Details

Authors
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Subject classification (UKÄ) – MANDATORY

  • Control Engineering
Original languageEnglish
Title of host publicationDynamical Vision
PublisherSpringer
Pages299-313
Volume4358
ISBN (Print)978-3-540-70931-2
Publication statusPublished - 2007
Publication categoryResearch
Peer-reviewedNo

Publication series

Name
Volume4358

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Related projects

Rolf Johansson & Klas Nilsson

2004/01/012006/12/31

Project: Research

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