A FORCE-CONTROLLED PNEUMATIC ACTUATOR

被引：73

作者：

BENDOV, D ^{[1
]}

SALCUDEAN, SE ^{[1
]}

机构：

[1] UNIV BRITISH COLUMBIA,DEPT ELECT ENGN,VANCOUVER,BC V6T 1Z4,CANADA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1995年 / 11卷 / 06期

关键词：

D O I：

10.1109/70.478438

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new pneumatic actuator for applications requiring moderate, but accurate, force control, such as teleoperation masters and robot wrists. The actuator uses voice-coil 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.

引用

页码：906 / 911

页数：6

共 8 条

[1] BENDAT JS, 1980, ENG APPLICATIONS COR
[2] Blackburn J.F., 1960, FLUID POWER CONTROL
[3] FISCHER P, 1990, MAY P IEEE C ROB AUT, P540
[4] A 6-DEGREE-OF-FREEDOM MAGNETICALLY LEVITATED VARIABLE COMPLIANCE FINE-MOTION WRIST - DESIGN, MODELING, AND CONTROL
HOLLIS, RL
SALCUDEAN, SE
ALLAN, AP
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1991, 7 (03): : 320 - 332
[5] McCloy D, 1973, CONTROL FLUID POWER
[6] Reboulet C., 1985, 3RD INT S ROB RES, P237
[7] SIVA KV, 1988, INT S TELEOPERATION, P277
[8] TAYLOR RH, 1985, IBM J RES DEV, V2, P363

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