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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Official URL: http://www.bsmee.be/events/clawar2006/clawar2006.h...
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.
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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) |
| URI: | http://eprints.usq.edu.au/id/eprint/1948 |
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