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

Författare

Summary, in English

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.

Publiceringsår

2005

Språk

Engelska

Publikation/Tidskrift/Serie

In Proc. 10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision, Beijing

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

10th IEEE Int. Conf. Computer Vision, Workshop on Dynamical Vision

Conference date

2005-10-15

Conference place

Beijing, China

Status

Published

Projekt

  • LU Robotics Laboratory
  • FlexAA