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Title: Positional control of pneumatic manipulators for construction tasks
Authors: Rachkov, M. Yu. 
Crisóstomo, M. 
Marques, L. 
Almeida, A. T. de 
Keywords: Pneumatic manipulators; Positional accuracy; Control optimization
Issue Date: 2002
Citation: Automation in Construction. 11:6 (2002) 655-665
Abstract: 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.
Rights: openAccess
Appears in Collections:FCTUC Eng.Electrotécnica - Artigos em Revistas Internacionais

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