Please use this identifier to cite or link to this item:
https://hdl.handle.net/10316/4078
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. | URI: | https://hdl.handle.net/10316/4078 | DOI: | 10.1016/S0926-5805(02)00007-9 | Rights: | openAccess |
Appears in Collections: | FCTUC Eng.Electrotécnica - Artigos em Revistas Internacionais |
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