Advancements in the programmable motion control of pneumatic drives for robots and other flexible machines

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.