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.
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Abstract
[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.
| Item Type: | Conference or Workshop Item (Commonwealth Reporting Category E) (Paper) |
|---|---|
| Additional Information: | No evidence of copyright restrictions on web site. Published in CD format. |
| 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) |
| Subjects: | 290000 Engineering and Technology > 290300 Manufacturing Engineering > 290301 Robotics and Mechatronics |
| Socio-Economic Objective (SEO2008): | UNSPECIFIED |
| ID Code: | 1948 |
| Deposited By: | |
| Deposited On: | 11 Oct 2007 10:54 |
| Last Modified: | 10 Feb 2012 15:25 |
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