Abstract
Precise force control is realized by a feedback control of pneumatic pressure using a servo valve, though a mechanical pressure control valve is used for rough force control. In the system design of this force controller, the dynamic characteristic of a servo valve is fast enough, and so has been neglected. Actually, however, the force control system depends greatly on the dynamic characteristic of a servo valve. The authors proposed a new system design method of the force controller for a rigid controlled object considering the dynamic characteristic of servo valve. In this study, this proposed method was extended to be applied to a compliant object which is often controlled by pneumatic pressure. It was concluded that the extended method is effective because good results of the force control are obtained.
