Title :
A force-controlled pneumatic actuator
Author :
Ben-Dov, D. ; Salcudean, S.E.
Author_Institution :
Raphael Armament Dev. Authority of Israel, Haifa, Israel
fDate :
12/1/1995 12:00:00 AM
Abstract :
This paper presents a new pneumatic actuator for applications requiring moderate, but accurate, force control, such as teleoperation masters and robot wrists. The actuator uses voice-coil flapper valves and low-friction cylinders. Its force is controlled by servoing differential pressure. Aspects of valve design, system modeling, controller design, and experimental results are presented
Keywords :
actuators; force control; pneumatic control equipment; valves; controller design; differential pressure; force-controlled pneumatic actuator; low-friction cylinders; robot wrists; system modeling; teleoperation masters; valve design; voice-coil flapper valves; Engine cylinders; Force control; Force sensors; Friction; Impedance; Pistons; Pneumatic actuators; Pressure control; Robots; Valves;
Journal_Title :
Robotics and Automation, IEEE Transactions on
