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Contact-predictive control for improving safety and stability of network-remote service robot

Research Project

Project/Area Number 16K06427
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Control engineering/System engineering
Research InstitutionShibaura Institute of Technology

Principal Investigator

Uchimura Yutaka  芝浦工業大学, 工学部, 教授 (00416710)

Research Collaborator NATORI KENJI  千葉大学, 大学院工学研究科, 助教 (70545607)
Project Period (FY) 2016-04-01 – 2019-03-31
Project Status Completed (Fiscal Year 2018)
Budget Amount *help
¥4,680,000 (Direct Cost: ¥3,600,000、Indirect Cost: ¥1,080,000)
Fiscal Year 2018: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords遠隔操作 / 予測制御 / 時間遅れ系 / 接触予見 / モデル予測制御 / ネットワーク制御 / 時間遅れ / 遠隔施工 / 通信遅延 / ロボット / 接触力
Outline of Final Research Achievements

In the time delay control system with the contact with the object, it is indispensable to predict the contact, because the state quantity after the switching is transmitted to the controller by the delay in addition to the discontinuous switching of the structure of the control object. This study proposed a system to improve stability and safety at contact by measuring relative distance between a robot and an object at real-time, to transmit it to an operator side so as to compensate communication delay, while predicting contact by estimation of relative motion. Experiments conducted by connecting two robot manipulators with time delay confirmed effectiveness of the proposed method.

Academic Significance and Societal Importance of the Research Achievements

従来の時間遅れ系の制御系設計の多くは,遅延を前提として安定化する問題設定となっているが,接触を伴う系の場合,接触する前に対処しなければ手遅れとなるため,本研究では予測による積極的な制御を実現している。また,遠隔側(プラント側)の環境計測と運動推定によって構造の切り替えを予測推定する点が,従来のモデル予測制御とは異なる点である。
本制御の適用により,人と共存する生活空間で使われるサービスロボットにおける適用はもとより,極限環境における遠隔操作や,遠隔手術ロボットなど時間遅れを有する遠隔作業における安全性の向上が期待される。

Report

(4 results)
  • 2018 Annual Research Report   Final Research Report ( PDF )
  • 2017 Research-status Report
  • 2016 Research-status Report
  • Research Products

    (12 results)

All 2018 2017 2016 Other

All Journal Article (2 results) (of which Peer Reviewed: 2 results) Presentation (9 results) (of which Int'l Joint Research: 5 results) Remarks (1 results)

  • [Journal Article] Model based Predictive Control for Tele-operational Control System with Time Delay2018

    • Author(s)
      小林 浩司, 内村 裕
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 138 Issue: 4 Pages: 323-329

    • DOI

      10.1541/ieejias.138.323

    • NAID

      130006602492

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2018 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Contact Prediction Control for a Teleoperation System with Time Delay2017

    • Author(s)
      法月 広夢,内村 裕
    • Journal Title

      IEEJ Transactions on Industry Applications

      Volume: 137 Issue: 7 Pages: 561-567

    • DOI

      10.1541/ieejias.137.561

    • NAID

      130006846774

    • ISSN
      0913-6339, 1348-8163
    • Related Report
      2017 Research-status Report
    • Peer Reviewed
  • [Presentation] Network-based control with state prediction for time-delayed system2018

    • Author(s)
      K.Kobayashi; A.Minohara;Y. Uchimura;
    • Organizer
      IEEE International Symposium on Industrial Electronics(ISIE2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 時間遅れを有する遠隔操作における接触予見制御2018

    • Author(s)
      内村 裕
    • Organizer
      電気学会産業応用部門大会2018
    • Related Report
      2018 Annual Research Report
  • [Presentation] Design of Model Predictive Control considering Time Delay in Remote Excavation Work2018

    • Author(s)
      H.Norizuki, Y. Uchimura
    • Organizer
      International Workshop on Advanced Motion Control 2018 (AMC18)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] Contact Prediction Control for a Tele-operation System with Time Delay2017

    • Author(s)
      Hiromu Norizuki, Yutaka Uchimura
    • Organizer
      IEEE ICM2017
    • Place of Presentation
      オーストラリア・ジップランド
    • Year and Date
      2017-02-13
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] Network-based control for a system with long time delay and packet losses2017

    • Author(s)
      Y. Uchimura
    • Organizer
      IEEE International Symposium on Industrial Electronics(ISIE2017)
    • Related Report
      2017 Research-status Report
    • Int'l Joint Research
  • [Presentation] 時間遅れを有するシステムにおける接触予見制御系の設計2017

    • Author(s)
      法月広夢,村 裕
    • Organizer
      電気学会産業応用部門大会2017
    • Related Report
      2017 Research-status Report
  • [Presentation] 時間遅れの大きな遠隔施工における操作支援システムの開発2017

    • Author(s)
      内村 裕,小林 浩司,法月 広夢,簑原 彬
    • Organizer
      宇宙科学技術連合講演会
    • Related Report
      2017 Research-status Report
  • [Presentation] Model-error feedback control for compensating packet loss and time delay2016

    • Author(s)
      Y. Uchimura, H.Norizuki,T.Suhara;
    • Organizer
      IEEE International Conference on Industrial Electronics, Control and Instrumentation
    • Place of Presentation
      イタリア・フィレンツェ
    • Year and Date
      2016-10-24
    • Related Report
      2016 Research-status Report
    • Int'l Joint Research
  • [Presentation] 時間遅れ系における接触予見制御系の設計2016

    • Author(s)
      法月広夢,内村裕
    • Organizer
      電気学会産業応用部門大会
    • Place of Presentation
      群馬大学
    • Year and Date
      2016-08-30
    • Related Report
      2016 Research-status Report
  • [Remarks] ネットワークの通信遅延を考慮したロボット制御に関する研究

    • URL

      http://www.rcon.mech.shibaura-it.ac.jp/theme/index.html

    • Related Report
      2018 Annual Research Report 2017 Research-status Report 2016 Research-status Report

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Published: 2016-04-21   Modified: 2020-03-30  

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