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Contact force modelling and adaptive control of pneumatic system

Flexible control is widely used in the field of robot and it is a very important platform for human-robot interaction. In this paper, a new approach is proposed for flexible control of the robot end-effector using pneumatic system. The pneumatic system model consists of proportional valves and pneumatic actuators. The friction model based on the actual system was built. The open loop transfer function of the system was built based on linear system and selected parameters were used to analyze the system preliminarily. A speed control without force feedback was used to control the pneumatic system to contact the target object and an adaptive control system was designed to compensate the friction and the uncertainty of the effective load. A cylinder with a proportional valve was used as the control objects and the control method and model are verified through simulation and experiment.