Title :
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
fDate :
April 26-May 1, 2004
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;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308820
