Development of a hybrid control for a pneumatic teleoperation system using on/off solenoid valves

被引：6
|
作者：
Le, M. Q. [1 ]
Pham, M. T. [1 ]
Tavakoli, M. [2 ]
Moreau, R. [1 ]
机构：
[1] Univ Lyon, Lab Ampere, UMR CNRS 5005, INSA Lyon, F-69621 Villeurbanne, France
[2] Univ Alberta, Dept Elect & Comp Engn, Edmonton, AB, Canada
来源：
IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010) | 2010年
关键词：
Pneumatic actuators; on/off solenoid valve; hybrid control; teleoperation; bilateral control; transparency; TRANSPARENCY;
D O I：
10.1109/IROS.2010.5650406
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to achieve acceptable performances. The results show that a good accuracy in position and force tracking of the teleoperation system is obtained.
引用
收藏
页码：5818 / 5823
页数：6
相关论文
共 50 条
  • [31] Design of a two-dimensional proportional solenoid for miniature directional control pneumatic valves
    Hong, YS
    Ha, DH
    Yeom, MK
    KSME INTERNATIONAL JOURNAL, 2003, 17 (07): : 978 - 985
  • [32] Development and multiplexed control of latching pneumatic valves using microfluidic logical structures
    Grover, WH
    Ivester, RHC
    Jensen, EC
    Mathies, RA
    LAB ON A CHIP, 2006, 6 (05) : 623 - 631
  • [33] Position control of a pneumatic rodless cylinder using sliding mode M-D-PWM control the high speed solenoid valves
    Shih, MC
    Ma, MA
    JSME INTERNATIONAL JOURNAL SERIES C-MECHANICAL SYSTEMS MACHINE ELEMENTS AND MANUFACTURING, 1998, 41 (02): : 236 - 241
  • [34] Position control of a pneumatic rodless cylinder using sliding mode M-D-PWM control the high speed solenoid valves
    Shih, Ming-Chang
    Ma, Ming-An
    JSME International Journal, Series C: Dynamics, Control, Robotics, Design and Manufacturing, 1998, 41 (02): : 236 - 241
  • [35] PNEUMATIC VALVES CONTROL PORTABLE LIFE SUPPORT SYSTEM
    EIGENBROD, LK
    HYDRAULICS & PNEUMATICS, 1976, 29 (12) : 64 - 65
  • [36] Control of a pneumatic drive using electronic pressure valves
    Situm, Zeljko
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2013, 35 (08) : 1085 - 1093
  • [37] Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves
    Huang, Haiming
    Lin, Junhao
    Wu, Linyuan
    Fang, Bin
    Sun, Fuchun
    PHOTONIC NETWORK COMMUNICATIONS, 2019, 37 (02) : 153 - 163
  • [38] Optimal control scheme for pneumatic soft actuator under comparison of proportional and PWM-solenoid valves
    Haiming Huang
    Junhao Lin
    Linyuan Wu
    Bin Fang
    Fuchun Sun
    Photonic Network Communications, 2019, 37 : 153 - 163
  • [39] A SERVO-PNEUMATIC POSITIONING SYSTEM DRIVEN BY FAST SWITCHING ON/OFF VALVES
    Locateli, Cristiano Cardoso
    De Negri, Victor Juliano
    De Pieri, Edson Roberto
    PROCEEDINGS OF THE ASME DYNAMIC SYSTEMS AND CONTROL CONFERENCE AND BATH/ASME SYMPOSIUM ON FLUID POWER AND MOTION CONTROL (DSCC 2011), VOL 2, 2012, : 303 - 310
  • [40] Pneumatic Brake Pressure Control for Electric Vehicle Based on High Speed On/Off Solenoid Valve
    Zhang, Jun-Zhi
    Qiu, Ming-Zhe
    You, Mu-Jie
    Sun, Dong-Sheng
    INTERNATIONAL CONFERENCE ON MECHANISM SCIENCE AND CONTROL ENGINEERING (MSCE 2014), 2014, : 393 - 398
12345