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Pneumatic Force Control for Robotic Systems
| Content Provider | CiteSeerX |
|---|---|
| Author | Kazerooni, H. |
| Abstract | Abstract—This paper develops a control algorithm to convert a pneumatic actuator into a force generator. Since delivered power from a pneumatic actuator is product of the actuator force and the piston’s displacement, through precise measurement of the piston’s displacement and robust control of the actuator’s power, one can effectively control the actuator force. This article first develops an exact model of a pneumatic system consisting of a double-acting cylinder and a servo-valve, with the goal of providing an insight into the design and control requirements for pneumatically-actuated systems. Using the model, derivation of a control algorithm that converts a pneumatic actuator into a force generator for robotics control applications is described. I. |
| File Format | |
| Access Restriction | Open |
| Subject Keyword | Pneumatic Force Control Pneumatic Actuator Robotic System Control Algorithm Actuator Force Piston Displacement Force Generator Double-acting Cylinder Robust Control Pneumatic System Actuator Power Robotics Control Application Precise Measurement Pneumatically-actuated System Exact Model Control Requirement |
| Content Type | Text |
| Resource Type | Article |
