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oaioai:doaj.org/article:3f861d05d3a84ccd93b9688a27eb323e

Sampled Data Control of a Compliant Actuated Joint Using On/Off Solenoid Valves

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Publication date
1 January 2011
Publisher
Eastern Macedonia and Thrace Institute of Technology

Abstract

This paper proposes a new control system design method for a compliant actuated joint using on/off solenoid valves. Themathematical modelling and the system’s hardware are described in detail. The control design method is presented in ageneral manner so it could be applied for any other similar system. For the present system, the designed controller is implementedvia a digital computer and it is characterised by very good performance and simplicity. The success of the proposedmethod is validated via simulations and experiment

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