By Topic

Modeling, identification, and control of a pneumatically actuated, force controllable robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
J. E. Bobrow ; Dept. of Mech. & Aerosp. Eng., California Univ., Irvine, CA, USA ; B. W. McDonell

Focuses on modeling and control of a light-weight and inexpensive pneumatic robot that can be used for position tracking and for end-effector force control. Unlike many previous controllers, our approach more fully accounts for the nonlinear dynamic properties of pneumatic systems such as servovalve flow characteristics and the thermodynamic properties of air compressed in a cylinder. We show with theory and experiments that pneumatic actuators can rival the performance of more common electric actuators. Our pneumatic robot is controlled by extending existing manipulator control algorithms to handle the nonlinear flow and compressibility of air. The control approach uses the triangular form of the coupled rigid body and air flow dynamics to establish path tracking. In addition to the trajectory tracking control law, a hybrid position/force control algorithm is developed. The experimental results indicate that the tip forces on the robot can be controlled without the need for an expensive force/torque sensor usually required by electric motors driven systems

Published in:

IEEE Transactions on Robotics and Automation  (Volume:14 ,  Issue: 5 )