Differential dithering control with feedback for a pneumatic pick and place cylindrical robot

• Main Authors: Bautista, Hermenigildo D., Joson, Avelino, Latonio, Giovanni Bacani, Simon, Rizza Lopez, Valor, Alvin Torres
• Format: text
• Language: English
• Published: Animo Repository 1993
• Subjects: Robotics; Electronic control; Robots, Industrial; Pneumatic machinery
• Online Access: https://animorepository.dlsu.edu.ph/etd_bachelors/9985
• Institution: De La Salle University

Typical pneumatic robots move continuously from one point to another along an axis because they are controlled only at the endpoints. To achieve a continuous path under control, the concept of differential dithering is applied to our pneumatic pick-and-place robot. This robotics system has four basic components: the manipulator, the controller, the power source, and the end-effector. The manipulator is driven by the actuators which are connected to the solenoid valves. These valves as well as the sensing devices are interfaced to the controller which, in this case, is a personal computer. The controller software stored in the memory constantly coordinates any movements of the manipulator with the sensors which, in turn, measure and feed back positional data for each axis to the controller. Two types of power are delivered to the robotics system: the AC power for operation of the controller, and the pneumatic power supply which is used for driving the various axes of the manipulator. The end-effector is designed for pick-and-place operations. It may be changed to meet the needs of the robot's user.