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Computer modelling for electropneumatic robot control.

Toulis, V. (1980) Computer modelling for electropneumatic robot control. Doctoral thesis, University of Surrey (United Kingdom)..

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Initial work on path generation routines for the University of Surrey Manipulator demonstrated the need for an improved control strategy. In view of the difficulties encountered in obtainins such a strategy by analytical means it was decided to investigate the feasibility of seneratins switching profiles for individual degrees of freedom of the manipulator by a suitable computer simulation. A computer implementation of an exponential constant volume pressure transient formed the basis for a simulation of one degree of freedom of the manipulator that requires a minimum of experimental data for its operation. Using this approach a simulation of the trajectory of a single axis of the manipulator under the control of a simple switch-over sequence was carried out in forward and reverse time It was argued that such a simulator package is suitable for the generation of switching profiles for the axis and a number of suggestions were made concerning the use of such simulators as the basis for the control of the arm.

Item Type: Thesis (Doctoral)
Divisions : Theses
Authors :
Toulis, V.
Date : 1980
Contributors :
Additional Information : Thesis (Ph.D.)--University of Surrey (United Kingdom), 1980.
Depositing User : EPrints Services
Date Deposited : 22 Jun 2018 14:26
Last Modified : 06 Nov 2018 16:53

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