Robust impedance shaping via bilateral manipulation

J. Edward Colgate

doi:10.23919/acc.1991.4791971

Robust impedance shaping via bilateral manipulation

J. Edward Colgate^*

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Scopus citations

Abstract

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 k_φ = 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 language	English (US)
Title of host publication	Proceedings of the American Control Conference
Publisher	Publ by American Automatic Control Council
Pages	3070-3071
Number of pages	2
ISBN (Print)	0879425652, 9780879425654
DOIs	https://doi.org/10.23919/acc.1991.4791971
State	Published - 1991
Event	Proceedings of the 1991 American Control Conference - Boston, MA, USA Duration: Jun 26 1991 → Jun 28 1991

Publication series

Name	Proceedings of the American Control Conference
Volume	3
ISSN (Print)	0743-1619

Other

Other	Proceedings of the 1991 American Control Conference
City	Boston, MA, USA
Period	6/26/91 → 6/28/91

ASJC Scopus subject areas

Electrical and Electronic Engineering

Access to Document

10.23919/acc.1991.4791971

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title = "Robust impedance shaping via bilateral manipulation",

abstract = "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.",

author = "Colgate, {J. Edward}",

year = "1991",

doi = "10.23919/acc.1991.4791971",

language = "English (US)",

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series = "Proceedings of the American Control Conference",

publisher = "Publ by American Automatic Control Council",

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note = "Proceedings of the 1991 American Control Conference ; Conference date: 26-06-1991 Through 28-06-1991",

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N2 - 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.

AB - 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.

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