TY - JOUR
T1 - Robust Impedance Shaping Telemanipulation
AU - Colgate, J. Edward
N1 - Funding Information:
Manuscript received November 13, 1991; revised March 4, 1993. This work was supported in part by the Engineering Foundation, Grant RI-A-90-4 and in part by the National Science Foundation, Grant MSS-9022513. The author is with the Department of Mechanical Engineering, Northwest-em University, 2145 Sheridan Road, Evanston, IL 60208. IEEE Log Number 9212605. A causal dynamic operator is one in which the present value of the output may depend on present and past values of the input.
PY - 1993/8
Y1 - 1993/8
N2 - When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. Traditionally, a bilateral manipulator is designed for transparency; i.e., so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control,” introduced here, differs in that it treats the bilateral manipulator as a means of constructively altering the impedance of a task. This concept is particularly valuable if the characteristic dimensions (e.g., force, length, time) of the task impedance are very different from those of the human limb. It is shown that a general form of impedance shaping control consists of a conventional power-scaling bilateral controller augmented with a real-time interactive task simulation (i.e., a virtual environment). An approach to impedance shaping based on kinematic similarity between tasks of different scale is introduced and illustrated with an example. It is shown that an important consideration in impedance shaping controller design is robustness; i.e., guaranteeing the stability of the operator/manipulator/task system. A general condition for the robustness of a bilateral manipulator is derived. This condition is based on the structured singular value (µ). An example of robust impedance shaping bilateral control is presented and discussed.
AB - When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. Traditionally, a bilateral manipulator is designed for transparency; i.e., so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control,” introduced here, differs in that it treats the bilateral manipulator as a means of constructively altering the impedance of a task. This concept is particularly valuable if the characteristic dimensions (e.g., force, length, time) of the task impedance are very different from those of the human limb. It is shown that a general form of impedance shaping control consists of a conventional power-scaling bilateral controller augmented with a real-time interactive task simulation (i.e., a virtual environment). An approach to impedance shaping based on kinematic similarity between tasks of different scale is introduced and illustrated with an example. It is shown that an important consideration in impedance shaping controller design is robustness; i.e., guaranteeing the stability of the operator/manipulator/task system. A general condition for the robustness of a bilateral manipulator is derived. This condition is based on the structured singular value (µ). An example of robust impedance shaping bilateral control is presented and discussed.
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U2 - 10.1109/70.246049
DO - 10.1109/70.246049
M3 - Article
AN - SCOPUS:0027646955
VL - 9
SP - 374
EP - 384
JO - IEEE Transactions on Robotics and Automation
JF - IEEE Transactions on Robotics and Automation
SN - 1042-296X
IS - 4
ER -