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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 (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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author
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type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
In Proc. 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision, Beijing
conference name
10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision
conference location
Beijing, China
conference dates
2005-10-15
project
LU Robotics Laboratory
FlexAA
language
English
LU publication?
yes
id
bd4a684c-4d31-4bde-90f5-4e1c29926a44 (old id 8516672)
date added to LUP
2016-04-04 13:57:54
date last changed
2019-04-11 11:35:24
@inproceedings{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       = {Olsson, Tomas and Johansson, Rolf and Robertsson, Anders},
  booktitle    = {In Proc. 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision, Beijing},
  language     = {eng},
  title        = {Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments},
  year         = {2005},
}