Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments
Abstract
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 and experiments are performed in order to validate the chosen approach.
Cite
Text
Olsson et al. "Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments." European Conference on Computer Vision, 2006. doi:10.1007/978-3-540-70932-9_23Markdown
[Olsson et al. "Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments." European Conference on Computer Vision, 2006.](https://mlanthology.org/eccv/2006/olsson2006eccv-force/) doi:10.1007/978-3-540-70932-9_23BibTeX
@inproceedings{olsson2006eccv-force,
title = {{Force/Vision Based Active Damping Control of Contact Transition in Dynamic Environments}},
author = {Olsson, Tomas and Johansson, Rolf and Robertsson, Anders},
booktitle = {European Conference on Computer Vision},
year = {2006},
pages = {299-313},
doi = {10.1007/978-3-540-70932-9_23},
url = {https://mlanthology.org/eccv/2006/olsson2006eccv-force/}
}