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

Robertsson, Anders LU ; Johansson, Rolf LU and Olsson, Tomas LU (2005) 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision
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.
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10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision
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English
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yes
id
bd4a684c-4d31-4bde-90f5-4e1c29926a44 (old id 8516672)
date added to LUP
2016-01-14 12:39:15
date last changed
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@misc{bd4a684c-4d31-4bde-90f5-4e1c29926a44,
  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       = {Robertsson, Anders and Johansson, Rolf and Olsson, Tomas},
  language     = {eng},
  title        = {Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments},
  year         = {2005},
}