A force-controlled pneumatic actuator for use in teleoperation masters

TitleA force-controlled pneumatic actuator for use in teleoperation masters
Publication TypeConference Paper
Year of Publication1993
AuthorsBen-Dov, D., and S. E. Salcudean
Conference NameRobotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Pagination938 -943 vol.3
Date Publishedmay.
Keywordsactuators, controller design, differential pressure, digital signal processor, feedback controller, flapper valves, force control, force-controlled pneumatic actuator, frequency response, low-friction cylinders, pneumatic control equipment, pressure feedback, repeatability, robot wrists, system modeling, telecontrol equipment, teleoperation masters, valve design, valves
Abstract

A new pneumatic actuator for use in teleoperation masters and robot wrists requiring moderate, but accurate, force control is presented. The actuator uses flapper valves and low-friction cylinders. Its force is controlled by servoing differential pressure. Aspects of valve design, system modeling, controller design and experimental results are presented. A feedback controller is designed and implemented using a digital signal processor. For stationary loads, force control by pressure feedback is demonstrated with good frequency response and excellent repeatability

URLhttp://dx.doi.org/10.1109/ROBOT.1993.292264
DOI10.1109/ROBOT.1993.292264

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