Optimal Control of Penumatic Manipulators for Construction Application

problems of pneumatic manipulators positioning in angle trajectories and in long linear trajectories for construction applications are discussed. Optimal positioning of a pneumatic manipulator of angle trajectories with minimum control energy consumption is solved. An implementation of the control system is presented. A control algorithm for a pneumatic manipulator of long linear trajectories based on a two-phase movement of the endeffector is investigated. Experimental results are shown.