NDLI: Impedance Control of a Pneumatic Actuator for Contact Tasks

Content Provider	IEEE Xplore Digital Library
Author	Yong Zhu Barth, E.J.
Copyright Year	2005
Description	Author affiliation: Department of Mechanical Engineering Vanderbilt University Nashville, Tennessee, 37235, USA (Yong Zhu)
Abstract	This paper presents a method for the impedance control of a pneumatic linear actuator for tasks involving contact interaction. The method presented takes advantage of the natural compliance of pneumatic actuators such that a load cell, typically used in impedance control, is not required. The central notion of the method is that by departing from a stiff actuation system, low-bandwidth acceleration measurements can be used in lieu of high-bandwidth force measurements. The control methodology presented contains an inner loop to control the pressure on two sides of a pneumatic cylinder, while an outer loop enforces an impedance relationship between external forces and motion and commands desired pressures to the inner loop. The inner loop enforces the natural compliance of the pneumatic actuator by controlling both the sum and difference of the pressures on both sides of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spool valves instead of a four-way valve typically used in fluid power control. Experimental results are shown demonstrating the pressure tracking control of the inner loop. Experimental results are also shown that demonstrate the impedance tracking of the outer loop for free motion and the transition from free motion to contact.
Starting Page	987
Ending Page	992
File Size	329785
Page Count	6
File Format	PDF
ISBN	078038914X
DOI	10.1109/ROBOT.2005.1570245
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-04-18
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Impedance Pneumatic actuators Pressure control Force control Motion control Valves Tracking loops Hydraulic actuators Accelerometers Force measurement proportional spool valve Impedance control contact forces pneumatic actuation pressure tracking
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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