McLatchey, Graham and Billingsley, John (2006) Force and position control using pneumatic cylinders. In: 9th International Conference on Climbing and Walking Robots: CLAWAR 2006, 12-14 Sept 2006, Brussels, Belgium.
[Abstract]: The supporting legs of legged robots form part of multiple closed kinematic chains in which antagonistic forces can pose a problem. In this paper, methods of compliance and force control are explored to resolve this. A ‘nested loop’ topology of non-linear control for pneumatic cylinders is outlined and its performance in actual implementation is reported.
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|Item Type:||Conference or Workshop Item (Commonwealth Reporting Category E) (Paper)|
|Item Status:||Live Archive|
|Additional Information:||No evidence of copyright restrictions on web site. Published in CD format.|
|Depositing User:||epEditor USQ|
|Faculty / Department / School:||Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering|
|Date Deposited:||11 Oct 2007 00:54|
|Last Modified:||02 Jul 2013 22:41|
|Uncontrolled Keywords:||force control, position control, pneumatics|
|Fields of Research (FOR2008):||09 Engineering > 0906 Electrical and Electronic Engineering > 090602 Control Systems, Robotics and Automation
09 Engineering > 0910 Manufacturing Engineering > 091007 Manufacturing Robotics and Mechatronics (excl. Automotive Mechatronics)
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