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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/14390

Title: Advancements in the programmable motion control of pneumatic drives for robots and other flexible machines
Authors: Pu, Jungsheng
Issue Date: 1988
Publisher: © Junsheng Pu
Abstract: The overall objective of this research is to advance the programmable motion control of pneumatic drives. Enhanced performance characteristics and improved parameter tuning facilities have been evolved for a new generation of pneumatic servos. The evolution has been achieved with specific reference to the application of pneumatics in the motion control of modular robots and other modular machines. The research has been largely experimentally-based with complementary new modelling studies providing a basis for suggesting and explaining the control strategies evolved. Novel realtime control algorithms have been implemented and their associated performance characteristics statistically analysed. The algorithms have provided technological advance with respect to (i) minimising drift and hysteresis in the drive system through compensating and automating the system null conditions; (ii) optimising the positioning time through use of learning procedure; (iii) achieving velocity control through "null velocity" compensation and learning.
Description: A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.
Sponsor: The British Council.
URI: https://dspace.lboro.ac.uk/2134/14390
Appears in Collections:PhD Theses (Mechanical, Electrical and Manufacturing Engineering)

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