A Study of Passivity-based Visual Force Feedback Control for Eye-to-hand Systems

• Project/Area Number: 20760283
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Control engineering
• Research Institution: Kanazawa Institute of Technology
• Principal Investigator: KAWAI Hiroyuki Kanazawa Institute of Technology, 工学部, 准教授 (70410298)
• Project Period (FY): 2008 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2010: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2009: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2008: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
• Keywords: 制御工学 / 知能ロボティクス / 視覚情報 / 触覚情報 / 機械力学 / 制御 / 機械力学・制御

Research Abstract

This study investigates both passivity based visual feedback control for parallel link manipulators and passivity based visual force feedback control for eye-to-hand systems. The main contribution of this study is to show that the visual force feedback system has the passivity which allows us to prove stability in the sense of Lyapunov. Finally simulation and experiment results are presented to verify the stability of the visual force feedback system and understand our proposed method simply.

Research Products

• [Journal Article] Passivity-based Visual Force Feedback Control for Eye-to-Hand Systems (2010)
  • Author(s): H.Kawai, T.Murao, M.Fujita
  • Journal Title: New Achievements, IN-TECH(Robot Manipulators)(A. Lazinica and H. Kawai(Eds.)) Pages: 329-342
  • Peer Reviewed
• [Journal Article] Passivity-based Visual Force Feedback Control for Eye-to-Hand Systems (2010)
  • Author(s): H.Kawai, T.Murao, M.Fujita
  • Journal Title: Robot Manipulators, New Achievements(A.Lazinica and H.Kawai(Eds.)) Pages: 329-342
  • 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 Vol.22, No.7 Pages: 273-279
  • NAID: 10026193807
  • Peer Reviewed
• [Journal Article] Passivity-Based Control of Dynamic Visual Feedback Systems with Movable Camera Configuration (2009)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Journal Title: Electronics and Communications in Japan Vol.92, No.6 Pages: 1-11
  • NAID: 210000186829
  • 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
  • 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 Vol.22 Pages: 273-279
  • NAID: 10026193807
  • Peer Reviewed
• [Journal Article] Passivity-based Control of Dynamic Visual Feedback Systems with Movable Camera Configuration (2009)
  • Author(s): 村尾俊幸, 河合宏之, 藤田政之
  • Journal Title: Electronics and Communications in Japan Vol.92 Pages: 1-11
  • NAID: 210000186829
  • 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-C Pages: 630-638
  • NAID: 10024774670
  • 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 Vol.127-C Pages: 286-294
  • NAID: 10021131395
  • Peer Reviewed
• [Presentation] 平面3自由度マニピュレータの視触覚フィードバック制御 (2010)
  • Author(s): 増田大樹, 河合宏之, 小林伸明
  • Organizer: 平成22年度 電気関係学会 北陸支部連合大会
  • Place of Presentation: 福井県,福井工業高等専門学校
  • Year and Date: 2010-09-12
• [Presentation] Visual Motion Observer-based Stabilizing Receding Horizon Control via Image Space Navigation Function (2010)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Organizer: 2010 IEEE Multi-conference on Systems and Control
  • Place of Presentation: 神奈川県,パシフィコ横浜
  • Year and Date: 2010-09-09
• [Presentation] Visual Motion Observer-based Stabilizing Receding Horizon Control via Image Space Navigation Function (2010)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Organizer: Proc.of the 2010 IEEE Multi-conference on Systems and Control
  • Place of Presentation: 神奈川県,パシフィコ横浜
  • Year and Date: 2010-09-09
• [Presentation] Visual Motion Observer-based Pose Control with Panoramic Camera via Passivity Approach (2010)
  • Author(s): H.Kawai, T.Murao, M.Fujita
  • Organizer: 2010 American Control Conference
  • Place of Presentation: ボルチモア,アメリカ
  • Year and Date: 2010-06-09
• [Presentation] Visual Motion Observer-based Pose Control with Panoramic Camera via Passivity Approach (2010)
  • Author(s): H.Kawai, T.Murao, M.Fujita
  • Organizer: Proc.of the 2010 American Control Conference
  • Place of Presentation: ボルチモア,アメリカ
  • Year and Date: 2010-06-09
• [Presentation] Passivity-based Synchronized Visual Feedback Control for Eye-to-Hand Systems (2009)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Organizer: 35th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: ポルト,ポルトガル
  • Year and Date: 2009-11-03
• [Presentation] Passivity-based Synchronized Visual Feedback Control for Eye-to-Hand Systems (2009)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Organizer: Proc.of the 35th Annual Conference of the IEEE Industrial Electronics Society
  • Place of Presentation: Porto, Portugal
  • Year and Date: 2009-11-03
• [Presentation] An Experimental Study of Visual Feedback Control on 2DOF Parallel Link Manipulator (2008)
  • Author(s): Y.Ishikawa, H.Kawai, N.Kobayashi
  • Organizer: 3rd Japan-China-Korea Joint Workshop on Robotics
  • Place of Presentation: 富山県,富山国際会議場
  • Year and Date: 2008-09-30
• [Presentation] An Experimental Study of Visual Feedback Control on 2DOF Parallel Link Manipulator (2008)
  • Author(s): Y. Ishikawa, H. Kawai and N. Kobayashi
  • Organizer: Proc. of the 3rd Japan-China-Korea Joint Workshop on Robotics
  • Place of Presentation: Toyama, Japan
  • Year and Date: 2008-09-30
• [Presentation] Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera Systems (2008)
  • Author(s): H.Kawai, T.Murao, M.Fujita
  • Organizer: 2008 IEEE Multi-conference on Systems and Control
  • Place of Presentation: サンアントニオ,アメリカ
  • Year and Date: 2008-09-03
• [Presentation] Passivity-based Dynamic Visual Force Feedback Control for Fixed Camera Systems (2008)
  • Author(s): H. Kawai, T. Murao and M. Fujita
  • Organizer: Proc. of the 2008 IEEE Multi-conference on Systems and Control
  • Place of Presentation: San Antonio, USA
  • Year and Date: 2008-09-03
• [Presentation] Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Approach (2008)
  • Author(s): T.Murao, H.Kawai, M.Fujita
  • Organizer: 17th IFAC World Congress on Automatic Control
  • Place of Presentation: ソウル,韓国
  • Year and Date: 2008-07-08
• [Presentation] Predictive Visual Feedback Control with Eye-in/to-Hand Configuration via Stabilizing Receding Horizon Approach (2008)
  • Author(s): T. Murao, H. Kawai and M. Fujita
  • Organizer: Proc. of the 17th IFAC World Congress on Automatic Control
  • Place of Presentation: Seoul, Korea
  • Year and Date: 2008-07-08