Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments
Olsson, Tomas LU ; Johansson, Rolf LU
and Robertsson, Anders
LU
(2007)
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:
https://lup.lub.lu.se/record/535810
- author
- Olsson, Tomas
LU
; Johansson, Rolf
LU
and Robertsson, Anders
LU
- organization
- publishing date
- 2007
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Dynamical Vision
- volume
- 4358
- pages
- 299 - 313
- publisher
- Springer
- external identifiers
-
- wos:000245351200023
- scopus:49949118519
- ISBN
- 978-3-540-70931-2
- project
- RobotLab LTH
- FlexAA
- 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
- 2016-04-04 10:39:45
- date last changed
- 2023-01-05 22:38:20
@inbook{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}},
booktitle = {{Dynamical Vision}},
isbn = {{978-3-540-70931-2}},
language = {{eng}},
pages = {{299--313}},
publisher = {{Springer}},
title = {{Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments}},
url = {{https://lup.lub.lu.se/search/files/5591699/625587.pdf}},
volume = {{4358}},
year = {{2007}},
}