Force and position control using pneumatic cylinders

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]: 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)
Refereed: Yes
Item Status: Live Archive
Additional Information: No evidence of copyright restrictions on web site. Published in CD format.
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 : 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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