PATH CONTROL OF A 3 DOF ROBOT MECHANISM ACTUATED WITH LOW PRESSURE AIR POWERED MOTORS

This paper described the researches carried out on the characteristics and control of a low pressure pneumatic system to actuate a three degree of freedom (3 DOF) robot. The motors used are the low pressure rotary type air motors equipped with two valves to adjust the motor speed and its direction. The 3 DOF model was used to perform the test of path control under different amounts of payload. A control algorithm based on the PID feedback control was developed for the robot.