An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 300-306 vol.1
- https://doi.org/10.1109/robot.1994.351278
Abstract
An analytical and experimental investigation of a jet pipe controlled electropneumatic servoactuator designed for use in the Utah/MIT Dextrous Hand (UMDH) has been performed. An accurate dynamic model has been developed and verified which includes detailed representation of the jet pipe element, orifice areas and fluid flows. The effects and modelling of hysteresis in the jet pipe are discussed. Theoretical and experimental results are presented for closed-loop force control showing that the force bandwidth can be raised as high as 80 Hz.Keywords
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