DocumentCode
1162425
Title
A force-controlled pneumatic actuator
Author
Ben-Dov, D. ; Salcudean, S.E.
Author_Institution
Raphael Armament Dev. Authority of Israel, Haifa, Israel
Volume
11
Issue
6
fYear
1995
fDate
12/1/1995 12:00:00 AM
Firstpage
906
Lastpage
911
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;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.478438
Filename
478438
Link To Document