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

Tomas Olsson, Rolf Johansson, Anders Robertsson

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Sammanfattning

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.
Originalspråkengelska
Titel på värdpublikationDynamical Vision
FörlagSpringer
Sidor299-313
Volym4358
ISBN (tryckt)978-3-540-70931-2
StatusPublished - 2007

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