Control performance of an air motor-can air motors replace electric motors?
Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied i...
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| creator | Pandian, S.R. Takemura, F. Hayakawa, Y. Kawamura, S. |
| description | Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied in literature. Air motors are the pneumatic counterparts of electric motors, providing rotary actuation. They have several advantages over electric motors, especially high power-to-weight and power-to-size ratios, good compliance, and resistance to environmental hazards. We consider the model-based control of vane-type air motors which are the most commonly used class of air motors. Various control problems are considered namely, position control, trajectory control, adaptive control, and force control. Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator. |
| doi_str_mv | 10.1109/ROBOT.1999.770029 |
| format | Conference Proceeding |
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Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator.</description><subject>Automatic control</subject><subject>Electric motors</subject><subject>Force control</subject><subject>Human robot interaction</subject><subject>Industrial control</subject><subject>Manipulators</subject><subject>Motion control</subject><subject>Pneumatic actuators</subject><subject>Power transmission</subject><subject>Service robots</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>9780780351806</isbn><isbn>0780351800</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1999</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpNkEtLxDAUhYMPcBznB-iqK3cdb5LmtRIdfOHAgIzgrqTpDVTapiadhf_eQmchHDjcw8eBewi5prCmFMzdx-5xt19TY8xaKQBmTsiCCaVy0OrrlKyM0jCJC6pBnpEFBQF5oZi5IJcpfQMA51IuyPsm9GMMbTZg9CF2tneYBZ_ZPrNNzLowhpi7_1fKIg6tnTBs0Y2xccf8_oqce9smXB19ST6fn_ab13y7e3nbPGxzxwQdc-4qWxfaCVbXXDheaUq1YMgqUVmOGsBY8EXBWC0N57X3yLWXtaxkwSSr-JLczr1DDD8HTGPZNclh29oewyGVTGozfc0m8GYGG0Qsh9h0Nv6W8178D-8CXQE</recordid><startdate>1999</startdate><enddate>1999</enddate><creator>Pandian, S.R.</creator><creator>Takemura, F.</creator><creator>Hayakawa, Y.</creator><creator>Kawamura, S.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope><scope>7SC</scope><scope>8FD</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope></search><sort><creationdate>1999</creationdate><title>Control performance of an air motor-can air motors replace electric motors?</title><author>Pandian, S.R. ; Takemura, F. ; Hayakawa, Y. ; Kawamura, S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c251t-3cbad48c52dd35c3b811852e2b5ba3e8009a0f4422d6933dffe38f6d6b64262b3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1999</creationdate><topic>Automatic control</topic><topic>Electric motors</topic><topic>Force control</topic><topic>Human robot interaction</topic><topic>Industrial control</topic><topic>Manipulators</topic><topic>Motion control</topic><topic>Pneumatic actuators</topic><topic>Power transmission</topic><topic>Service robots</topic><toplevel>online_resources</toplevel><creatorcontrib>Pandian, S.R.</creatorcontrib><creatorcontrib>Takemura, F.</creatorcontrib><creatorcontrib>Hayakawa, Y.</creatorcontrib><creatorcontrib>Kawamura, S.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection><collection>Computer and Information Systems Abstracts</collection><collection>Technology Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Pandian, S.R.</au><au>Takemura, F.</au><au>Hayakawa, Y.</au><au>Kawamura, S.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Control performance of an air motor-can air motors replace electric motors?</atitle><btitle>Proceedings - IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1999</date><risdate>1999</risdate><volume>1</volume><spage>518</spage><epage>524 vol.1</epage><pages>518-524 vol.1</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>9780780351806</isbn><isbn>0780351800</isbn><abstract>Pneumatic actuators are among a variety of actuators under active study by the robotics community, for the advantages they offer over conventional electric actuators widely used in present-day robots. So far, however, only pneumatic cylinders which provide linear actuation have been mainly studied in literature. Air motors are the pneumatic counterparts of electric motors, providing rotary actuation. They have several advantages over electric motors, especially high power-to-weight and power-to-size ratios, good compliance, and resistance to environmental hazards. We consider the model-based control of vane-type air motors which are the most commonly used class of air motors. Various control problems are considered namely, position control, trajectory control, adaptive control, and force control. Results of experimental implementation on an industrial vane-type air motor illustrate the effectiveness of the air motor as a high-performance rotary actuator.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1999.770029</doi><tpages>7</tpages></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings - IEEE International Conference on Robotics and Automation, 1999, Vol.1, p.518-524 vol.1 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_770029 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Automatic control Electric motors Force control Human robot interaction Industrial control Manipulators Motion control Pneumatic actuators Power transmission Service robots |
| title | Control performance of an air motor-can air motors replace electric motors? |
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