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JRM Vol.8 No.3 pp. 292-296
doi: 10.20965/jrm.1996.p0292
(1996)

Paper:

Force Controlled Pneumatic Manipulator

Guido Belforte*, Terenziano Raparelli**, and Mauro Velardocchia*

* Dipartimento di Meccanica, Politecnico di Torino, C.so Duca degli Abruzzi, 24 - 10129 Torino, Italy

** Dipartimento di Energetica, University di L’Aquila, 67040 Roio Poggio - L’Aquila, Italy

Received:
October 2, 1995
Accepted:
October 15, 1995
Published:
June 20, 1996
Keywords:
Pneumatics, Position control, Force control, Force sensor, Fuzzy, Tuning
Abstract

This paper presents a pneumatic XY manipulator capable of moving a tool-plate along a surface whose position in the work plane is not known a priori while applying a desired contact force to this surface. The manipulator is particularly economical, as it is constructed entirely of commercial components. This paper describes construction, control strategy, and tuning methods for the system. Experimental results are satisfactory in terms of system robustness and accuracy, but require improvement with respect to the speed with which the tool-plate can be moved along the contact trajectory.

Cite this article as:
Guido Belforte, Terenziano Raparelli, and Mauro Velardocchia, “Force Controlled Pneumatic Manipulator,” J. Robot. Mechatron., Vol.8, No.3, pp. 292-296, 1996.
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