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Optimizing the Operation of a Robot Manipulator with a Pneumatic Actuator

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Abstract

Control functions ensuring the optimal trajectory of a robot manipulator are determined, within an isoperimetric framework. A model is proposed for a manipulator that is optimal in terms of the rapidity of motion control. A telescopic actuator moves the load through the assembly line within a coordinate system specific to the actuator. A method is established for finding the control signals that ensure an optimal outcome. Modeling with variation in the throttle aperture over the course of actuator motion is described.

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Authors and Affiliations

  1. MIREA Russian Technological University, Moscow, Russia

    V. I. Chizhikov & E. V. Kurnasov

Authors
  1. V. I. Chizhikov
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  2. E. V. Kurnasov
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Correspondence to V. I. Chizhikov or E. V. Kurnasov.

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Translated by B. Gilbert

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Chizhikov, V.I., Kurnasov, E.V. Optimizing the Operation of a Robot Manipulator with a Pneumatic Actuator. Russ. Engin. Res. 42, 871–877 (2022). https://doi.org/10.3103/S1068798X22090076

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  • DOI: https://doi.org/10.3103/S1068798X22090076

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