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

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding

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

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Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering
Original languageEnglish
Title of host publicationIn Proc. 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision, Beijing
Publication statusPublished - 2005
Publication categoryResearch
Peer-reviewedYes
Event10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision - Beijing, China
Duration: 2005 Oct 15 → …

Conference

Conference10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision
Country/TerritoryChina
CityBeijing
Period2005/10/15 → …

Related projects

Rolf Johansson & Klas Nilsson

2004/01/012006/12/31

Project: Research

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