Stabilization for non-linear and non-passive multi-lateral tele-control system and its application to surgical robot

2015 Fiscal Year Final Research Report

• Project/Area Number: 26630078
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Dynamics/Control
• Research Institution: Toyohashi University of Technology
• Principal Investigator: Miyoshi Takanori 豊橋技術科学大学, 工学(系)研究科(研究院), 准教授 (10345952)
• Co-Investigator(Kenkyū-buntansha): Kawashima Kenji 東京医科歯科大学, 生体材料工学研究所, 教授 (40300553) ; Terashima Kazuhiko 豊橋技術科学大学, 工学研究科, 教授 (60159043)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: 遠隔制御 / マルチラテラル制御 / 手術支援ロボット

Outline of Final Research Achievements

In this project, the stabilization method for tele-control system, which is non-linear, non-passive, and multi-lateral(multipoint-to-multipoint), was studied.
For the point of view of theoretical research, the stabilization theory for non-linear, non-passive, and bi-lateral(one-to-one) system was proved.
For the point of view of applications, the proposed control algorithm was applied to the surgical robot, and it stabilized the system and did not make the position error in spite of any comunication delay and the packet loss.

Free Research Field

制御工学