Force and position control using pneumatic cylinders

Paper

McLatchey, Graham and Billingsley, John. 2006. "Force and position control using pneumatic cylinders." 9th International Conference on Climbing and Walking Robots: CLAWAR 2006. Brussels, Belgium 12 - 14 Sep 2006 Sheffield, UK.
Paper/Presentation Title

Force and position control using pneumatic cylinders

Presentation TypePaper
AuthorsMcLatchey, Graham (Author) and Billingsley, John (Author)
Journal or Proceedings TitleProceedings of the 9th International Conference on Climbing and Walking Robots: CLAWAR 2006
Year2006
Place of PublicationSheffield, UK
Web Address (URL) of Paperhttp://www.bsmee.be/events/clawar2006/clawar2006.html
Conference/Event9th International Conference on Climbing and Walking Robots: CLAWAR 2006
Event Details
9th International Conference on Climbing and Walking Robots: CLAWAR 2006
Event Date
12 to end of 14 Sep 2006
Event Location
Brussels, Belgium
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.

Keywordsforce control, position control, pneumatics
ANZSRC Field of Research 2020400799. Control engineering, mechatronics and robotics not elsewhere classified
400707. Manufacturing robotics
Public Notes

No evidence of copyright restrictions on web site. Published in CD format.

Byline AffiliationsDepartment of Agricultural, Civil and Environmental Engineering
Department of Mechanical and Mechatronic Engineering
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