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Positional control of pneumatic manipulators for construction tasks
Rachkov, M. Yu.; Crisóstomo, M.; Marques, L.; Almeida, A. T. deThis paper describes solutions that can be applied to pneumatic manipulator problems in positioning, both for angle trajectories and for long linear trajectories, used in construction tasks. Optimal positioning of a pneumatic manipulator along angle trajectories with minimum control energy consumption is given. The implementation of the control system is presented. Control algorithms for a long linear trajector...
Reducing Motion Inaccuracies on a Mobile Robot
Araújo, Rui; Almeida, A. T. deIn this article we present two algorithms, for reducing the effects of control-space quantisation errors on a Khepera mobile robot. Specifically, we consider that control-space quantisation is present, when there is only a finite set of available robot wheels velocities. Thus the velocities of the robot wheels can not be chosen from any point in a continuous set. The first algorithm can be used to perform pure ...
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