Analysis of computer-controlled pneumatic servo system for robotic applications

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>