Pneumatic force control for robotic systems

This paper develops a control algorithm to convert a pneumatic actuator into a force generator. Since delivered power from a pneumatic actuator is product of the actuator force and the piston´s displacement, through precise measurement of the piston´s displacement and robust control of the actuator´s power, one can effectively control the actuator force. This article first develops an exact model of a pneumatic system consisting of a double acting cylinder and a servo-valve, with the goal of providing an insight into the design and control requirements for pneumatically-actuated systems. Using the model, derivation of a control algorithm that converts a pneumatic actuator into a force generator for robotics control applications is described.