Pneumatic force control for robotic systems

Abstract

This paper develops a control algorithm to convert a pneumatic actuator into a force generator. Since delivered power from a pneumatic actuator is product of the actuator force and the piston's displacement, through precise measurement of the piston's displacement and robust control of the actuator's power, one can effectively control the actuator force. This article first develops an exact model of a pneumatic system consisting of a double acting cylinder and a servo-valve, with the goal of providing an insight into the design and control requirements for pneumatically-actuated systems. Using the model, derivation of a control algorithm that converts a pneumatic actuator into a force generator for robotics control applications is described.