Title :
An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator
Author :
Henri, Paul D. ; Hollerbach, John M. ; Nahvi, Ali
Author_Institution :
Bell-Northern Res., Ottawa, Ont., Canada
fDate :
8/1/1998 12:00:00 AM
Abstract :
In analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT dextrous hand 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 modeling of hysteresis in the jet pipe are discussed. Actuator saturation is shown to be an obstacle in achieving high bandwidth. Theoretical and experimental results are presented for frequency response and time-domain force tracking
Keywords :
actuators; electropneumatic control equipment; force control; frequency response; hysteresis; manipulators; servomechanisms; time-domain analysis; tracking; Utah/MIT dextrous hand; electropneumatic actuator; fluid flows; force tracking; frequency response; hysteresis; jet pipe; orifice; robot hands; saturation; servoactuator; time-domain analysis; Actuators; Bandwidth; Fluid dynamics; Fluid flow; Fluid flow control; Frequency response; Hysteresis; Orifices; Performance analysis; Time domain analysis;
Journal_Title :
Robotics and Automation, IEEE Transactions on
