Title :
Modeling, identification, and control of a pneumatically actuated robot
Author :
McDonell, B.W. ; Bobrow, J.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA
Abstract :
This research focuses on modeling and control of a light-weight and inexpensive pneumatic robot that can be used for position tracking and for end-effector force control. Unlike many previous controllers, our approach more fully accounts for the nonlinear dynamic properties of pneumatic systems such as servovalve flow characteristics and the thermodynamic properties of air compressed in a cylinder. We show with theory and experiments that pneumatic actuators can rival the performance of more common electric actuators
Keywords :
actuators; force control; identification; manipulators; modelling; pneumatic systems; robots; tracking; cylinder; electric actuators; end-effector force control; identification; modeling; nonlinear dynamic properties; performance; pneumatically actuated robot; position tracking; research; robot control; servovalve flow; thermodynamic properties; Aerodynamics; Control systems; Engine cylinders; Force control; Lighting control; Nonlinear dynamical systems; Pneumatic actuators; Pneumatic systems; Robots; Valves;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620026
