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

Olsson, Tomas LU ; Johansson, Rolf LU and Robertsson, Anders LU (2007) In Dynamical Vision 4358. p.299-313
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.
Please use this url to cite or link to this publication:
author
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
in
Dynamical Vision
volume
4358
pages
299 - 313
publisher
Springer
external identifiers
  • WOS:000245351200023
  • Scopus:49949118519
ISBN
978-3-540-70931-2
language
English
LU publication?
yes
id
4a27d618-9984-41be-ada4-b23018f2248d (old id 535810)
alternative location
http://vision.jhu.edu/iccv2005-wdv/37.pdf
date added to LUP
2007-09-24 14:00:43
date last changed
2016-10-13 04:41:14
@misc{4a27d618-9984-41be-ada4-b23018f2248d,
  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.},
  author       = {Olsson, Tomas and Johansson, Rolf and Robertsson, Anders},
  isbn         = {978-3-540-70931-2},
  language     = {eng},
  pages        = {299--313},
  publisher    = {ARRAY(0x9efe418)},
  series       = {Dynamical Vision},
  title        = {Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments},
  volume       = {4358},
  year         = {2007},
}