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

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

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