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ECCV
2006
Springer

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

13 years 7 months ago
Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments
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.
Tomas Olsson, Rolf Johansson, Anders Robertsson
Added 22 Aug 2010
Updated 22 Aug 2010
Type Conference
Year 2006
Where ECCV
Authors Tomas Olsson, Rolf Johansson, Anders Robertsson
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