Title :
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
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;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.292264
