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

På svenska

Author

Summary, in English

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.

Publishing year

2007

Language

English

Pages

299-313

Publication/Series

Dynamical Vision

Volume

4358

Document type

Book chapter

Publisher

Springer

Topic

  • Control Engineering

Status

Published

Project

  • LU Robotics Laboratory
  • FlexAA

ISBN/ISSN/Other

  • ISBN: 978-3-540-70931-2