Minimizing air consumption of pneumatic actuators in mobile robots

Author

Granosik, Grzegorz ; Borenstein, Johann

Author_Institution

Dept. of Mech. Eng., Michigan Univ., Ann Arbor, MI, USA

Volume

4

fYear

2004

fDate

April 26-May 1, 2004

Firstpage

3634

Abstract

This paper introduces a new control method for pneumatic actuators, called "Proportional Position and Stiffness (PPS)" controller. The PPS method provides both position and stiffness control for a robot joint driven by a pneumatic cylinder with four ON-OFF valves. In addition, the proposed control system consumes much less compressed air than comparable strategies. These features make the PPS method highly suitable to application in mobile robots.

Keywords

control system synthesis; mechanical variables control; mobile robots; on-off control; pneumatic actuators; pneumatic systems; position control; proportional control; valves; ON-OFF valves; air consumption; control system synthesis; energy conservation; mobile robots; nonlinear control systems; pneumatic actuators; pneumatic cylinder; proportional position control; robot joint; stiffness control; Control systems; Engine cylinders; Legged locomotion; Mechanical engineering; Mobile robots; Muscles; Pneumatic actuators; Pulse width modulation; Robotics and automation; Valves;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1308820

Filename

1308820