2006 Fiscal Year Final Research Report Summary
On the Design of Visual Force Feedback Systems for Medical Mechatronics via Hybrid Optimal Control
| Project/Area Number |
16560381
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Control engineering
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| Research Institution | Tokyo Institute of Technology (2005-2006)
Kanazawa University (2004) |
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Principal Investigator |
FUJITA Masayuki Tokyo Institute of Technology, Dept. of Mechanical and Control Engineering, Professor, 大学院理工学研究科, 教授 (90181370)
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| Co-Investigator(Kenkyū-buntansha) |
YONEYAMA Takeshi Kanazawa University, Dept. of Human & Mechanical Systems Engineering, Professor, 自然科学研究科, 教授 (30175020)
OMOTE Kazuhiko Kanazawa University, Dept. of Surgical Oncology Cancer Research Institute, Assistant Professor, 医学部付属病院, 講師 (50272985)
AZUMA Takehito Utsunomiya University, Dept. of Electrical and Electronic Engineering, Associate Professor, 工学部, 助教授 (60308179)
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| Project Period (FY) |
2004 – 2006
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| Keywords | Visual Feedback / Visual Servoing / Robot Control |
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| Research Abstract |
In this research, we consider the design of visual force feedback systems for medical mechatronics via hybrid optimal control. Firstly, the 3-D visual feedback control problem is established as the robot control problem and the estimation problem of the relative rigid body motion from the camera to the target object. For this problem, we propose a receding horizon control law based on optimization for the 3D visual feedback system, a highly nonlinear and relatively fast system. The stability of the receding horizon control scheme is guaranteed by using the cost function derived from an energy function of the visual feedback system.
Secondly we propose control of visual feedback systems with a dynamic movable camera configuration. This configuration consists of a robot manipulator and a camera that is attached to the end-effector of another robot manipulator. We have experiments for evaluating the control performance using the dynamic visual feedback system that is constructed from two robot manipulators, a camera and an image processing board with a high-performance DSP and a real-time system.
Finally we propose hybrid visual force feedback control that is integrated visual feedback control and force control. Simulation results are shown to verify the stability and performance analysis for the disturbance attenuation problem of the visual force feedback system.
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