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A force-controlled pneumatic actuator for use in teleoperation masters

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2 Author(s)
Ben-Dov, D. ; Dept. of Electr. Eng., British Columbia Univ., Vancouver, BC, Canada ; Salcudean, S.E.

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

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993