3 ms·
This is a bit of a stretch. Proportional pneumatic actuators are highly nonlinear. Their behavior varies dramatically with temperature, pressure, and a host of
by GlenTheMachine 7y ago
This is a bit of a stretch. Proportional pneumatic actuators are highly nonlinear. Their behavior varies dramatically with temperature, pressure, and a host of other factors. Just having feedback and a linear control law is generally not sufficient for, say, robotics applications. People are working on nonlinear adaptive control laws but they are still very much in the research domain.
Source: I do research in alternative robotics actuation and controls.
- Animats 7y agoYou have to get the valve very close to the cylinder for this to work at all well, so you don't have the air in the hoses acting as an air spring. The proportional valves have to be fast, which is usually expensive. That gets the lag down to the point that the thing becomes stably controllable. [1] There was an effort at CWRU to build legged robotics this way around 2008. Site seems to be down.[2] [1] https://www.hydraulicspneumatics.com/technologies/other-technologies/article/21882183/5-myths-of-pneumatic-motion-control https://www.hydraulicspneumatics.com/technologies/other-tech... [2] http://biorobots.case.edu/projects/onrprojects/robot3/ http://biorobots.case.edu/projects/onrprojects/robot3/