Pneumatic devices is widely used in industry mainly in the state of open-loop control. In this paper, a pneumatic robot has been implemented in which pneumatic servo control is used to build a close-loop control system. An analytical model of an optimal state-feedback + PI is derived mathematically to describe the current design of the pneumatic robot. Based on this model, its control strategy and simulation are presented. The results show that the optimal state-feedback + PI model can satisfy the requirements of trajectory tracking of the pneumatic robot. A tele-calligraphy system, which can mimic a Chinese calligraphy, is built to test the trajectory tracking characteristics. The experimental results confirm that the pneumatic device can track the trajectory accurately.

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