TY - GEN
T1 - Robust impedance shaping via bilateral manipulation
AU - Colgate, J. Edward
PY - 1991
Y1 - 1991
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.
UR - http://www.scopus.com/inward/record.url?scp=0026367260&partnerID=8YFLogxK
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U2 - 10.23919/acc.1991.4791971
DO - 10.23919/acc.1991.4791971
M3 - Conference contribution
AN - SCOPUS:0026367260
SN - 0879425652
SN - 9780879425654
T3 - Proceedings of the American Control Conference
SP - 3070
EP - 3071
BT - Proceedings of the American Control Conference
PB - Publ by American Automatic Control Council
T2 - Proceedings of the 1991 American Control Conference
Y2 - 26 June 1991 through 28 June 1991
ER -