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On the Design of Visual Force Feedback Systems for Medical Mechatronics via Hybrid Optimal Control

Research Project

Project/Area Number 16560381
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field Control engineering
Research InstitutionTokyo Institute of Technology (2005-2006)
Kanazawa University (2004)

Principal Investigator

FUJITA Masayuki  Tokyo Institute of Technology, Dept. of Mechanical and Control Engineering, Professor, 大学院理工学研究科, 教授 (90181370)

Co-Investigator(Kenkyū-buntansha) YONEYAMA Takeshi  Kanazawa University, Dept. of Human & Mechanical Systems Engineering, Professor, 自然科学研究科, 教授 (30175020)
OMOTE Kazuhiko  Kanazawa University, Dept. of Surgical Oncology Cancer Research Institute, Assistant Professor, 医学部付属病院, 講師 (50272985)
AZUMA Takehito  Utsunomiya University, Dept. of Electrical and Electronic Engineering, Associate Professor, 工学部, 助教授 (60308179)
Project Period (FY) 2004 – 2006
Project Status Completed (Fiscal Year 2006)
Budget Amount *help
¥2,800,000 (Direct Cost: ¥2,800,000)
Fiscal Year 2006: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2005: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 2004: ¥1,400,000 (Direct Cost: ¥1,400,000)
KeywordsVisual Feedback / Visual Servoing / Robot Control
Research Abstract

In this research, we consider the design of visual force feedback systems for medical mechatronics via hybrid optimal control. Firstly, the 3-D visual feedback control problem is established as the robot control problem and the estimation problem of the relative rigid body motion from the camera to the target object. For this problem, we propose a receding horizon control law based on optimization for the 3D visual feedback system, a highly nonlinear and relatively fast system. The stability of the receding horizon control scheme is guaranteed by using the cost function derived from an energy function of the visual feedback system.
Secondly we propose control of visual feedback systems with a dynamic movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. We have experiments for evaluating the control performance using the dynamic visual feedback system that is constructed from two robot manipulators, a camera and an image processing board with a high-performance DSP and a real-time system.
Finally we propose hybrid visual force feedback control that is integrated visual feedback control and force control. Simulation results are shown to verify the stability and performance analysis for the disturbance attenuation problem of the visual force feedback system.

Report

(4 results)
  • 2006 Annual Research Report   Final Research Report Summary
  • 2005 Annual Research Report
  • 2004 Annual Research Report

Research Products

(25 results)

All 2007 2006 2005 2004

All Journal Article (25 results)

  • [Journal Article] Passivity-based Dynamic Visual Feedback Control for Three Dimensional Target Tracking : Stability and L2 Performance Analysis2007

    • Author(s)
      M.Fujita, H.Kawai, M.W.Spong
    • Journal Title

      IEEE Transactions on Control Systems Technology 15-1

      Pages: 40-52

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control for Three Dimensional Target Tracking : Stability and L_2-gain Performance Analysis2007

    • Author(s)
      M.Fujita, H.Kawai, M.W.Spong
    • Journal Title

      IEEE Transactions on Control Systems Technology Vol.15, No.1

      Pages: 40-52

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control for Three Dimensional Target Tracking : Stability and L2 Performance Analysis2007

    • Author(s)
      M.Fujita, H.Kawai, M.W.Spon
    • Journal Title

      IEEE Transactions on Control Systems Technology 15-1

      Pages: 40-52

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Predictive Visual Feedback Control with Eye-in-Hand System via Stabilizing Receding Horizon Approach2006

    • Author(s)
      T.Murao, T.Yamada, M.Fujita
    • Journal Title

      Proc. of the 45th IEEE Conference on Decision and Control

      Pages: 1758-1763

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] 受動性に基づく2次元視触覚フィードバック制御の安定性とL2ゲイン制御性能解析2006

    • Author(s)
      河合宏之, 村尾俊幸, 藤田政之
    • Journal Title

      SICE 第6回 制御部門大会 資料

      Pages: 297-300

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Annual Research Report 2006 Final Research Report Summary
  • [Journal Article] Passivity-based Visual Force Feedback Control for Planar Manipulators (in Japanese)2006

    • Author(s)
      H.Kawai, T.Murao, M.Fujita
    • Journal Title

      SICE 6th Annual Conference on Control Systems

      Pages: 297-300

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Image-based Dynamic Visual Feedback Control via Passivity Approach2006

    • Author(s)
      H.Kawai, T.Murao, M.Fujita
    • Journal Title

      Proc. of the 2006 IEEE Conference on Control Applications

      Pages: 740-745

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Stabilizing Receding Horizon Control for Three Dimensional Visual Feedback System with Fixed Camera Configuration2006

    • Author(s)
      T.Murao, M.Fujita
    • Journal Title

      Proc. of the 17th International Symposium on Mathematical, Theory of Networks and Systems

      Pages: 788-793

    • Related Report
      2006 Annual Research Report
  • [Journal Article] コンピュータネットワークにおけるむだ時間補償2006

    • Author(s)
      東 剛人, 藤田政之
    • Journal Title

      計測と制御 45-10

      Pages: 893-898

    • NAID

      10020610545

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Passivity-based Control of Visual Feedback Systems with Dynamic Movable Camera Configuration2005

    • Author(s)
      T.Murao, H.Kawai, M.Fujita
    • Journal Title

      Proc. of the 44th IEEE Conference on Decision and Control and European Control Conference

      Pages: 5360-5365

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] 受動性に基づく3次元動的視覚フィードバック制御の固定カメラ構造への展開2005

    • Author(s)
      河合宏之, 村尾俊幸, 東 剛人, 藤田政之
    • Journal Title

      システム制御情報学会論文誌 18-4

      Pages: 127-135

    • NAID

      10015475835

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary 2005 Annual Research Report
  • [Journal Article] Passivity-based 3D Dynamic Visual Feedback Control with a Fixed Camera (in Japanese)2005

    • Author(s)
      H.Kawai, T.Murao, T.Azuma, M.Fujita
    • Journal Title

      Transactions of the Institute of Systems, Control and Information Engineers Vol.18, No.4

      Pages: 127-135

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control with a Movable Camera2005

    • Author(s)
      T.Murao, H.Kawai, M.Fujita
    • Journal Title

      Proc.of the 16^<th> IFAC World Congress on Automatic Control

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Passivity-based Control of Visual Feedback Systems with Dynamic Movable Camera Configuration2005

    • Author(s)
      T.Murao, H.Kawai, M.Fujita
    • Journal Title

      Proc.of the 44^<th> IEEE Conference on Decision and Control and European Control Conference

      Pages: 5360-5365

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control with Uncertainty of Camera Coordinate Frame2005

    • Author(s)
      H.Kawai, T.Murao, M.Fujita
    • Journal Title

      Proc.of the 2005 American Control Conference

      Pages: 3701-3706

    • Related Report
      2005 Annual Research Report
  • [Journal Article] An Experimental Study of Stabilizing Receding Horizon Control of Visual Feedback System with Planar Manipulators : abstract2005

    • Author(s)
      M.Fujita, Y.Kawai, Y.Nakaso
    • Journal Title

      Proc.of the 2005 International Workshop on Assessment and Future Directions of Nonlinear Model

      Pages: 319-326

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control of Manipulators with Kinematic Redundancy2005

    • Author(s)
      F.Sawo, M.Fujita, O.Sawodny
    • Journal Title

      Proc.of the 2005 IEEE Conference on Control Applications

      Pages: 1200-1205

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 受動性に基づく3次元動的視覚フィードバック制御の固定カメラ構造への展開2005

    • Author(s)
      河合宏之
    • Journal Title

      システム制御情報学会論文誌 18-4

      Pages: 127-135

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 一般化終端不等式条件を用いた線形時変システムに対する出力フィードバックReceding Horizon H_∞制御2004

    • Author(s)
      河合康典, 東 剛人, 藤田政之
    • Journal Title

      計測自動制御学会論文集 40-6

      Pages: 656-663

    • NAID

      10013134336

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Output Feedback Receding Horizon H∞ Control for Linear Time Varying Systems using Extended Terminal Inequality Conditions (in Japanese)2004

    • Author(s)
      Y.Kawai, T.Azuma, M.Fujita
    • Journal Title

      Transactions of the Society of Instrument and Control Engineers Vol.40, No.6

      Pages: 656-663

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      2006 Final Research Report Summary
  • [Journal Article] Passivity-based Dynamic Visual Feedback Control for Three Dimensional Target Tracking : Stability and L2-gain performance Analysis2004

    • Author(s)
      H.Kawai
    • Journal Title

      Proc.of the 2004 American Control Conference

      Pages: 1522-1527

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Passivity-based Control and Estimation of Dynamic Visual Feedback Systems with a Fixed Camera2004

    • Author(s)
      H.Kawai
    • Journal Title

      Proc.of the 43rd IEEE Conference on Decision and Control

      Pages: 4022-4027

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Control and Estimation of Visual Feedback Systems with a Fixed Camera for Trajectory Tracking Problems2004

    • Author(s)
      M.Fujita
    • Journal Title

      Proc.of the 49th Internationales Wissenschaftliches Kolloquium

      Pages: 240-245

    • Related Report
      2004 Annual Research Report
  • [Journal Article] An Experimental Study of Dynamic Visual Feedback Control with a Fixed Camera2004

    • Author(s)
      T.Murao
    • Journal Title

      Proc.of the SICE Annual Conference 2004

      Pages: 181-186

    • Related Report
      2004 Annual Research Report
  • [Journal Article] Visual Feedback Control of an Unmanned Planar Blimp System with Self-scheduling Parameter via Receding Horizon Approach2004

    • Author(s)
      Y.Kawai
    • Journal Title

      Proc.of the 2004 IEEE Conference on Control Applications

      Pages: 1603-1608

    • Related Report
      2004 Annual Research Report

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Published: 2004-03-31   Modified: 2016-04-21  

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