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.
Avdelning/ar
Publiceringsår
2007
Språk
Engelska
Sidor
299-313
Publikation/Tidskrift/Serie
Dynamical Vision
Volym
4358
Fulltext
- Available as PDF - 114 kB
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Dokumenttyp
Del av eller Kapitel i bok
Förlag
Springer
Ämne
- Control Engineering
Status
Published
Projekt
- LU Robotics Laboratory
- FlexAA
ISBN/ISSN/Övrigt
- ISBN: 978-3-540-70931-2