Title :
An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator
Author :
Henri, Paul D. ; Hollerbach, John M.
Author_Institution :
Biorobotics Lab., McGill Univ., Montreal, Que., Canada
Abstract :
An analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT Dextrous Hand (UMDH) has been performed. An accurate dynamic model has been developed and verified which includes detailed representation of the jet pipe element, orifice areas and fluid flows. The effects and modelling of hysteresis in the jet pipe are discussed. Theoretical and experimental results are presented for closed-loop force control showing that the force bandwidth can be raised as high as 80 Hz
Keywords :
actuators; electropneumatic control equipment; force control; hysteresis; manipulators; Utah/MIT Dextrous Hand; accurate dynamic model; closed-loop force control; fluid flows; force bandwidth; hysteresis; jet pipe controlled electropneumatic actuator; orifice areas; Fluid dynamics; Fluid flow; Fluid flow control; Force control; Hysteresis; Orifices; Pistons; Pneumatic actuators; Power system modeling; Valves;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351278
