Robust impedance shaping via bilateral manipulation

J. Edward Colgate*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


The impedance shaping bilateral control scheme is investigated. To illustrate the difficulties caused by variable physical scaling effects, and to introduce the concept of impedance shaping, a simple example is given. When implemented on an actual master-slave manipulator the impedance shaping control law and kφ = 1/α (the velocity scale factor) will not result in robust behavior for any selection of parameter values. This is because both the force and acceleration feedback terms represent noncolocated control. A robust controller can be realized, however, simply by replacing the actual force exerted on the slave with the control force applied to the slave, and rolling off the acceleration feedback term. Moreover, the acceleration feedback term can be used to compensate for the effects of slave inertia.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Number of pages2
ISBN (Print)0879425652, 9780879425654
StatePublished - 1991
EventProceedings of the 1991 American Control Conference - Boston, MA, USA
Duration: Jun 26 1991Jun 28 1991

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


OtherProceedings of the 1991 American Control Conference
CityBoston, MA, USA

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


Dive into the research topics of 'Robust impedance shaping via bilateral manipulation'. Together they form a unique fingerprint.

Cite this