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

Tomas Olsson, Rolf Johansson, Anders Robertsson
Dynamical Vision  
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
more » ... ckstepping design method, and simulations are performed in order to validate the chosen approach.
doi:10.1007/978-3-540-70932-9_23 dblp:conf/eccv/OlssonJR06 fatcat:7yrjqynfbzaythwhvaadqh7qra