منابع مشابه
Position/Force Control of a 1-DoF Set-up Powered by Pneumatic Muscles
A one-degree-of-freedom set-up driven by pneumatic muscles was designed and built in order to research the applicability of pneumatic artificial muscles in industrial applications, especially in wearable robots such as exoskeletons. The experimental set-up is very non-linear and very difficult to control properly. This paper describes the control of this mechatronic system’s interaction with it...
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A 2 dof force-feedback joystick was employed to simulate the force response of a manual gearshift of car during drive. The control law is based on an hybrid model. A state machine determines the active state of the system, according to the simulation, and changes the parameters of the dynamical model. The operator can move the gearshift lever whether such a movement would be allowed in an actua...
متن کاملPneumatic cylinders: modelling and feedback force-control
In this paper, we model, analyze, and control an experimental set-up of a servo pneumatic cylinder. The dynamic behaviour of pneumatic actuator systems is dominant by nonlinear functions. First, a mathematical model for the pneumatic system is derived. Secondly, we investigate the mathematical properties of this model and show boundedness and positiveness of certain variables. Thirdly, we prove...
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In this paper we propose a force position control scheme in a DOF task space which is a generalization of the parallel control scheme in a DOF task space The con troller consists of a PD action on the position loop a PI action on the force loop together with gravity com pensation and feedforward of the desired contact force Kinestatic ltering is not used in the scheme Euler pa rameters are adop...
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ژورنال
عنوان ژورنال: Journal of the Korea Society For Power System Engineering
سال: 2015
ISSN: 1226-7813
DOI: 10.9726/kspse.2015.19.1.031