This paper describes solutions that can be applied to pneumatic manipulator problems in positioning, both for angle trajectories and for long linear trajectories, used in construction tasks. Optimal positioning of a pneumatic manipulator along angle trajectories with minimum control energy consumption is given. The implementation of the control system is presented. Control algorithms for a long linear trajectory manipulator based on two-phase and three-phase motion modes of the end-effector are investigated. Conventional and fuzzy logic controls of a pneumatic manipulator were applied and experimental testing was carried out. The obtained results allow widening the application range of pneumatic manipulators in construction, particularly in gantry type machines. ; http://www.sciencedirect.com/science/article/B6V20-45C1YKY-1/1/8c256d0f2511246ffa2d121580db3d4f
Positional control of pneumatic manipulators for construction tasks
2002-01-01
doi:10.1016/S0926-5805(02)00007-9
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
DDC: | 629 |
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