farid najafi - associate professor at k.n toosi university
babak hejrati - MSC.student

This paper develops an impedance control of a pneumatic actuator which uses On/Off valves for handling contact tasks. Due to their low cost and simplicity on/off valves are considerable alternatives for using instead of expensive proportional valves.

Impedance control, pulse width modulation(PWM)technique, on/off valves , sliding mode controller(SMC)