Analysis of computer-controlled pneumatic servo system for robotic applications

Author

Moran, Antonio ; Nakadai, Shigeyuki ; Nagai, Masao

Author_Institution

Tokyo Univ. of Agric. & Technol., Japan

fYear

1990

fDate

3-6 Jul 1990

Firstpage

897

Abstract

The paper analyzes the time and frequency response characteristics of direct-drive pneumatic actuators for their potential use in robotic position control applications. A linearized mathematical model of the actuator is derived and the control policy is analyzed from an optimal control perspective. The analysis shows that pneumatic actuators are practical for use in servo-control systems. The main limitation is in the system response time (bandwidth) which is determined by the supply pressure and valve flow characteristics

Keywords

actuators; computerised control; control system analysis; frequency response; pneumatic control equipment; position control; robots; servomechanisms; computer-controlled pneumatic servo system; direct-drive pneumatic actuators; frequency response; linearized mathematical model; optimal control; robotic position control; supply pressure; time response; valve flow characteristics; Application software; Frequency response; Hydraulic actuators; Mathematical model; Optimal control; Pneumatic actuators; Position control; Robots; Servomechanisms; Time factors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on

Conference_Location

Ibaraki

Type

conf

DOI

10.1109/IROS.1990.262511

Filename

262511