[article]
| Titre : |
Passivity-based impact and force control of a pneumatic actuator |
| Type de document : |
texte imprimé |
| Auteurs : |
Yong Zhu, Auteur ; Barth, Eric J., Auteur |
| Année de publication : |
2008 |
| Article en page(s) : |
7 p. |
| Note générale : |
dynamic systems |
| Langues : |
Anglais (eng) |
| Mots-clés : |
force control pneumatic actuators force valves feedback |
| Résumé : |
To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model with the inner product between spool valve position input and actuation force output as a pseudo-supply rate is developed. Using this pseudo-bond graph model, an open-loop pneumatic actuator controlled by a four-way proportional valve can be proven to not be passive with respect to the pseudo-supply rate. Conversely, it can also be proven to be passive with respect to the pseudo-supply rate under a closed-loop feedback control law. The passivity of the closed-loop pneumatic actuator is verified in impact and force control experiments. The experimental results also validate the pseudo-bond graph model. The pseudo-bond graph model is intended for passivity analysis and controller design for pneumatic actuation applications where contact stability (such as robotic assembly) and/or stable interaction with a passive environment (such as human-robot interaction) is required. |
| En ligne : |
http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] |
in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 7 p.
[article] Passivity-based impact and force control of a pneumatic actuator [texte imprimé] / Yong Zhu, Auteur ; Barth, Eric J., Auteur . - 2008 . - 7 p. dynamic systems Langues : Anglais ( eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 N°2 (Mars/Avril 2008) . - 7 p.
| Mots-clés : |
force control pneumatic actuators force valves feedback |
| Résumé : |
To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool valve position input and the actuation force output. A pseudo-bond graph model with the inner product between spool valve position input and actuation force output as a pseudo-supply rate is developed. Using this pseudo-bond graph model, an open-loop pneumatic actuator controlled by a four-way proportional valve can be proven to not be passive with respect to the pseudo-supply rate. Conversely, it can also be proven to be passive with respect to the pseudo-supply rate under a closed-loop feedback control law. The passivity of the closed-loop pneumatic actuator is verified in impact and force control experiments. The experimental results also validate the pseudo-bond graph model. The pseudo-bond graph model is intended for passivity analysis and controller design for pneumatic actuation applications where contact stability (such as robotic assembly) and/or stable interaction with a passive environment (such as human-robot interaction) is required. |
| En ligne : |
http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] |
|
Passivity-based impact and force control of a pneumatic actuator in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 N°2 (Mars/Avril 2008)
