Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location :
Ibaraki
DOI :
10.1109/IROS.1990.262511
