A force-controlled pneumatic actuator for use in teleoperation masters
D Ben-Dov, SE Salcudean - [1993] Proceedings IEEE …, 1993 - ieeexplore.ieee.org
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 …
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 …
[CITATION][C] A force-controlled pneumatic actuator for use in teleoperation masters,[in:] Proceedings of 1993 IEEE International Conference on Robotics and …
D Ben-Dov, SE Salcudean - DOI
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