This paper presents a modified nonlinear pneumatic model for pneumatic force servo systems. The modified model is proposed in order to estimate pressures accurately for both chambers of a pneumatic cylinder by adopting flow coefficient maps, which is different from a conventional model whose flow coefficient is constant. The simulated data from the model is also compared to the experiment result and shows its accuracy compared to a widely used conventional model. The modified model and the experimental procedure are described and verified in this paper as well. Finally, the applicability of the proposed model to model-based controller design is also shown through the experiment of force servo controls based on a force sensor.


Related reference

[1] Y.-P. Hong, D. Koo, J.-i. Park, S. Kim, and K.-S. Kim, “The Soft-Gait: A simple and powerful weight-support device for walking and squatting,” in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on, 2015, pp. 6336-6341.


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