Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments
Publikation/Tidskrift/Serie: Dynamical Vision
Dokumenttyp: Del av eller Kapitel i bok
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