Modeling, identification, and control of a pneumatically actuated, force controllable robot
Modeling, identification, and control of a pneumatically actuated, force controllable robot
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DOI：
10.1109/70.720349
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发表时间：
1998-10-01
期刊：
影响因子：
--
通讯作者：
McDonell, BW
中科院分区：
文献类型：
--
作者：
Bobrow, JE;McDonell, BW
本研究主要针对一种重量轻且价格低廉的气动机器人进行建模与控制，该气动机器人可用于位置跟踪和末端执行器的力控制。与许多以前的控制器不同，我们的方法更充分地考虑了气动系统的非线性动态特性，如伺服阀如何在气缸中压缩空气的特性和热力学特性。我们通过理论和实验证明，气动执行器的性能可以与更常见的电动执行器相媲美。我们的气动机器人是通过扩展现有的机械手控制算法来控制的，以处理空气的非线性和可压缩性。该控制方法利用刚体与空气的三角形耦合动力学建立路径跟踪，除了轨迹跟踪控制律外，还提出了一种位置/力混合控制算法。实验结果表明，机器人的尖端力可以在不需要电机驱动系统通常需要的昂贵的力/力矩传感器的情况下进行控制。
This research focuses on modeling and control of a light-weight and inexpensive pneumatic robot that can be used for position tracking and for end-effector force control. Unlike many previous controllers, our approach more fully accounts for the nonlinear dynamic properties of pneumatic systems such as servovalve how characteristics and the thermodynamic properties of air compressed in a cylinder. We show with theory and experiments that pneumatic actuators can rival the performance of more common electric actuators. Our pneumatic robot is controlled by extending existing manipulator control algorithms to handle the nonlinear how and compressibility of air. The control approach uses the triangular form of the coupled rigid body and air how dynamics to establish path tracking, In addition to the trajectory tracking control law, a hybrid position/force control algorithm is developed. The experimental results indicate that the tip forces on the robot can be controlled without the need for an expensive force/torque sensor usually required by electric motor driven systems.