Paper Info
Title
Modeling Of A Pneumatic Actuator Through Long Pneumatic Lines For Teleoperation Purpose
Abstract
This paper presents the modeling of a pneumatic system devoted to a teleoperation application. The study deals with the specific problem of the additional dynamics introduced by the air hose length when the servovalves are located far from the pneumatic cylinder. The physical modeling of each component of the system leads to either a set of nonlinear ordinary differential equations (ODEs) or a set of nonlinear partial differential equations (PDEs). We show that a classical expansion around a working point provides a model consisting of a finite set of ODEs. A second aspect of this work relates to the use of this model within a bilateral teleoperation scheme. In order to design a two- channel teleoperation controller, a model reduction is required. Simulation results show the efficiency of our approach in terms of both robustness with respect to modeling errors and transparency, whether in free space or in contact motion.
Year
Venue
Keywords
2013
2013 16TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR)
partial differential equations,valves,telerobotics,pneumatic actuators
Field
DocType
Citations 
Teleoperation,Control theory,Nonlinear system,Pneumatic actuator,Control theory,Pneumatic cylinder,Control engineering,Robustness (computer science),Engineering,Partial differential equation,Telerobotics
Conference
0
PageRank 
References 
Authors
0.34
6
3
Name
Order
Citations
PageRank
Anais Brygo110.70
Minh Tu Pham221.19
Arnaud Leleve332.13