Force and position control using pneumatic cylinders

McLatchey, Graham and Billingsley, John ORCID: https://orcid.org/0000-0002-7198-5594 (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.

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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/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Faculty/School / Institute/Centre:	Historic - Faculty of Engineering and Surveying - Department of Mechanical and Mechatronic Engineering (Up to 30 Jun 2013)
Date Deposited:	11 Oct 2007 00:54
Last Modified:	02 Jul 2013 22:41
Uncontrolled Keywords:	force control, position control, pneumatics
Fields of Research (2008):	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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