Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments
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.
Department/s
Publishing year
2007
Language
English
Pages
299-313
Publication/Series
Dynamical Vision
Volume
4358
Full text
- Available as PDF - 114 kB
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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