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Passivity-based Synchronized Visual Feedback Control for Multi-manipulator System

Research Project

Project/Area Number 20760281
Research Category

Grant-in-Aid for Young Scientists (B)

Allocation TypeSingle-year Grants
Research Field Control engineering
Research InstitutionAdvanced Institute of Industrial Technology

Principal Investigator

MURAO Toshiyuki  Advanced Institute of Industrial Technology, 産業技術研究科, 助教 (00447038)

Project Period (FY) 2008 – 2009
Project Status Completed (Fiscal Year 2009)
Budget Amount *help
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2009: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2008: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Keywords制御工学 / 視覚フィードバック / シンクロ制御 / 機械力学・制御 / 知能ロボティクス / 知能ロボティックス
Research Abstract

This study investigates passivity-based synchronized visual feedback control for an eye-to-hand multi-manipulator system. For a visual feedback system, it is difficult that a desired trajectory in joint space is given explicitly, since motion of a target object is unknown. Although a synchronization error is defined in the joint space in previous works, we define it in work space by making a reference manipulator and reference target objects. Based on passivity and dissipative systems theory, stability and L2-gain performance analysis are discussed. Finally, validity of the proposed control law can be confirmed by simulation results.

Report

(3 results)
  • 2009 Annual Research Report   Final Research Report ( PDF )
  • 2008 Annual Research Report
  • Research Products

    (11 results)

All 2009 2008

All Journal Article (7 results) (of which Peer Reviewed: 7 results) Presentation (4 results)

  • [Journal Article] 受動性に基づく固定カメラ構造の3次元視触覚フィードバック制御2009

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

      システム制御情報学会論文誌 Vol.22,No.7

      Pages: 273-279

    • NAID

      10026193807

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] Passivity-Based Control of Dynamic Visual Feedback Systems with Movable Camera Configuration2009

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

      Electronics and Communications in Japan Vol.92,No.6

      Pages: 1-11

    • NAID

      210000186829

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 固定カメラシステムに対する安定化予測ビジュアルフィードバック制御2009

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

      電気学会論文誌C Vol.129,No.4

      Pages: 630-638

    • NAID

      10024774670

    • Related Report
      2009 Final Research Report
    • Peer Reviewed
  • [Journal Article] 固定カメラシステムに対する安定化予測ビジュアルフィードバック制御2009

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

      電気学会論文誌C 129

      Pages: 630-638

    • NAID

      10024774670

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Passivity-Based Control of Dynamic Visual Feedback Systems with Movable Camera Configuration2009

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

      Electronics and Communications in Japan 92

      Pages: 1-11

    • NAID

      210000186829

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 受動性に基づく固定カメラ構造の3次元視触覚フィードバック制御2009

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

      システム制御情報学会論文誌 22

      Pages: 273-279

    • NAID

      10026193807

    • Related Report
      2009 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 受動性に基づく可動カメラ構造の3次元動的視覚フィードバック制御2008

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

      電気学会論文誌C 128

      Pages: 286-294

    • NAID

      10021131395

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Presentation] Passivity-based Synchronized Visual Feedback Control for Eye-to-Hand Systems2009

    • Author(s)
      T. Murao, H. Kawai, M. Fujita
    • Organizer
      The 35th Annual Conference of the IEEE Industrial Electronics Society
    • Place of Presentation
      Porto, Portugal
    • Year and Date
      2009-11-03
    • Related Report
      2009 Annual Research Report 2009 Final Research Report
  • [Presentation] 受動性に基づく視覚フィードバックシステムに対する同調制御の一考察2009

    • Author(s)
      村尾俊幸, 河合宏之, 藤田政之
    • Organizer
      SICE第9回制御部門大会
    • Place of Presentation
      広島
    • Year and Date
      2009-05-05
    • Related Report
      2009 Final Research Report 2008 Annual Research Report
  • [Presentation] Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera Systems2008

    • Author(s)
      H. Kawai, T. Murao, M. Fujita
    • Organizer
      The 2nd IEEE Multi-conference on Systems and Control
    • Place of Presentation
      San Antonio, TX
    • Year and Date
      2008-09-03
    • Related Report
      2009 Final Research Report 2008 Annual Research Report
  • [Presentation] Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Approach2008

    • Author(s)
      T. Murao, H. Kawai, M. Fujita
    • Organizer
      The 17th IFAC World Congress on Automatic Control
    • Place of Presentation
      Seoul, Korea
    • Year and Date
      2008-07-08
    • Related Report
      2009 Final Research Report 2008 Annual Research Report

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Published: 2008-04-01   Modified: 2016-04-21  

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