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Goldfarb CREATE Lab

Pneumatic

Pneumatic Servoactuation

Stemming in part from our efforts in developing high power density actuators, our group has worked for some time on design and control methodologies related to pneumatic actuation systems. Some of this work includes energy saving control methodologies for pneumatic servo actuation; pulse-width-modulated control of pneumatic servo actuation; and multi-objective control of pneumatic servo actuation, including simultaneous force and stiffness control. Our group has also developed (and patented) several valve designs, including small scale rotary servovalves and energy-saving servovalves.

Publications

  • Dynamic Constraint Based Energy Saving Control of Pneumatic Servo Systems, K. A. Al-Dakkan, E. J. Barth, and M. Goldfarb, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, No. 3, 2005ASME Digital Collection
  • Energy Saving in Pneumatic Servo Control Utilizing Interchamber Cross-Flow, X. Shen and M. Goldfarb, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 129, pp. 303-310, 2007. ASME Digital Collection
  • On the Enhanced Passivity of Pneumatically Actuated Impedance-Type Haptic Interfaces, X. Shen and M. Goldfarb, IEEE Transactions on Robotics, vol. 22, no. 3, pp. 470-480, 2007. IEEE Xplore
  • Independent Stiffness and Force Control of Pneumatic Actuators for Contact Stability during Robot Manipulation, IEEE International Conference on Robotics and Automation, pp. 2697 – 2702, April 2005. IEEE Xplore
  • Simultaneous Force and Stiffness Control of a Pneumatic Actuator, X. Shen and M. Goldfarb, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 129, pp. 425 – 434, 2007. ASME Digital Collection
  • Nonlinear Averaging Applied to the Control of Pulse Width Modulated (PWM) Pneumatic Systems, IEEE American Controls Conference, pp. 4444 – 4448, June 2004. IEEE Xplore
  • Nonlinear Model-Based Control of Pulse Width Modulated Pneumatic Servo Systems, X. Shen, J, Zhang, E. J. Barth, M. Goldfarb, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 128, pp. 663 – 669, 2006. ASME Digital Collection
  • On the Observability of Pressure in a Pneumatic Servo Actuator, J. Wu, M. Goldfarb, and E. Barth, Journal of Dynamic Systems, Measurement, and Control, vol. 126, no. 4, 2005. ASME Digital Collection