Modeling and Control of Pneumatic Actuation
Pneumatic actuation presents a number of features not seen in typical robotic actuators. These features include a high mass specific power density relative to electromagnetic actuators, inherent compliance and backdrivability, and the ability to controllably store and regenerate absorbed mechanical power. To fully exploit these unique features, model-based control methodologies needed to be developed. Our work makes contributions with regard to 1) model-based energetically derived control methodologies for proportionally controlled pneumatic actuation systems, 2) nonlinear observers to reduce the number of feedback sensors required, and 3) switching and PWM control methodologies for the use of inexpensive and simple on/off valves for motion control.
- Y. Zhu and E. J. Barth, “Planar Peg-in-hole Insertion using a Stiffness Controllable Pneumatic Manipulator”. National Fluid Power Association, Educator/Industry Summit, October, 2004, Pittsburgh, PA.
- Y. Zhu and E. J. Barth, “Force-based Impedance Control of Pneumatic Actuators”. National Fluid Power Association, Educator/Industry Summit, October, 2004, Scottsdale, AZ.