Passivity-based Synchronized Visual Feedback Control for Multi-manipulator System
| Project/Area Number |
20760281
|
|---|
| Research Category |
Grant-in-Aid for Young Scientists (B)
|
| Allocation Type | Single-year Grants |
|---|
| Research Field |
Control engineering
|
|---|
| Research Institution | Advanced 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)
Research Products
(11 results)
