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An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator

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2 Author(s)
Henri, P.D. ; Biorobotics Lab., McGill Univ., Montreal, Que., Canada ; Hollerbach, J.M.

An analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT Dextrous Hand (UMDH) 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 modelling of hysteresis in the jet pipe are discussed. Theoretical and experimental results are presented for closed-loop force control showing that the force bandwidth can be raised as high as 80 Hz

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994