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

Publiceringsår: 2007
Språk: Engelska
Sidor: 299-313
Publikation/Tidskrift/Serie: Dynamical Vision
Volym: 4358
Dokumenttyp: Del av eller Kapitel i bok
Förlag: Springer-Verlag


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.



  • Technology and Engineering


  • ISBN: 978-3-540-70931-2

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