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Title: Computer modelling for electropneumatic robot control
Author: Toulis, V.
ISNI:       0000 0001 3535 5774
Awarding Body: University of Surrey
Current Institution: University of Surrey
Date of Award: 1980
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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.
Supervisor: Not available Sponsor: Not available
Qualification Name: Thesis (Ph.D.) Qualification Level: Doctoral
EThOS ID:  DOI: Not available
Keywords: Robotics