A force-controlled pneumatic actuator for use in teleoperation masters

Author

Ben-Dov, D. ; Salcudean, S.E.

Author_Institution

Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada

fYear

1993

fDate

2-6 May 1993

Firstpage

938

Abstract

A new pneumatic actuator for use in teleoperation masters and robot wrists requiring moderate, but accurate, force control is presented. The actuator uses 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. A feedback controller is designed and implemented using a digital signal processor. For stationary loads, force control by pressure feedback is demonstrated with good frequency response and excellent repeatability

Keywords

actuators; force control; pneumatic control equipment; telecontrol equipment; valves; controller design; differential pressure; digital signal processor; feedback controller; flapper valves; force control; force-controlled pneumatic actuator; frequency response; low-friction cylinders; pressure feedback; repeatability; robot wrists; system modeling; teleoperation masters; valve design; Adaptive control; Control system synthesis; Force control; Modeling; Pneumatic actuators; Pressure control; Robots; Signal design; Valves; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.292264

Filename

292264