A Study of Passivity-based Visual Force Feedback Control for Eye-to-hand Systems
| Project/Area Number |
20760283
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering
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| Research Institution | Kanazawa Institute of Technology |
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Principal Investigator |
KAWAI Hiroyuki Kanazawa Institute of Technology, 工学部, 准教授 (70410298)
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| Project Period (FY) |
2008 – 2010
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| Project Status |
Completed (Fiscal Year 2010)
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| Budget Amount *help |
¥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)
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| 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 |
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| 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.
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Report
(4 results)
Research Products
(22 results)
