This paper presents a method for the impedance control of a pneumatic manipulator for peg-in-hole tasks without using a load cell. The control methodology presented contains a sliding mode force controller and an adaptive pressure summation relationship, which enforces the controllable natural stiffness of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spool valves for each degree-of-freedom instead of a four-way valve typically used in fluid power control. Combinations of intrinsic stiffness provided by the compressibility of air and closed-loop stiffness provided by impedance parameters are studied. Experimental results are shown demonstrating that gentle transition from non-contact to contact tasks can be achieved without the use of a load cell by taking advantage of the intrinsically low stiffness of a pneumatic manipulator. Experimental results are also shown demonstrating sensorless (no load cell) force-guided insertion of a planar peg-in-hole task with position uncertainties (hole location not precisely known).
Skip Nav Destination
ASME 2005 International Mechanical Engineering Congress and Exposition
November 5–11, 2005
Orlando, Florida, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
0-7918-4216-9
PROCEEDINGS PAPER
Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator
Eric J. Barth
Eric J. Barth
Vanderbilt University
Search for other works by this author on:
Yong Zhu
Vanderbilt University
Eric J. Barth
Vanderbilt University
Paper No:
IMECE2005-81667, pp. 815-822; 8 pages
Published Online:
February 5, 2008
Citation
Zhu, Y, & Barth, EJ. "Planar Peg-in-Hole Insertion Using a Stiffness Controllable Pneumatic Manipulator." Proceedings of the ASME 2005 International Mechanical Engineering Congress and Exposition. Dynamic Systems and Control, Parts A and B. Orlando, Florida, USA. November 5–11, 2005. pp. 815-822. ASME. https://doi.org/10.1115/IMECE2005-81667
Download citation file:
10
Views
Related Proceedings Papers
Related Articles
Simultaneous Force and Stiffness Control of a Pneumatic Actuator
J. Dyn. Sys., Meas., Control (July,2007)
Energy Saving in Pneumatic Servo Control Utilizing Interchamber Cross-Flow
J. Dyn. Sys., Meas., Control (May,2007)
Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems
J. Dyn. Sys., Meas., Control (September,2006)
Related Chapters
Case Studies
Nonlinear Regression Modeling for Engineering Applications: Modeling, Model Validation, and Enabling Design of Experiments
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
An Adaptive Fuzzy Control for a Multi-Degree-of-Freedom System
Intelligent Engineering Systems Through Artificial Neural Networks, Volume 17