Optimizing the Operation of a Robot Manipulator with a Pneumatic Actuator

Control functions ensuring the optimal trajectory of a robot manipulator are determined, within an isoperimetric framework. A model is proposed for a manipulator that is optimal in terms of the rapidity of motion control. A telescopic actuator moves the load through the assembly line within a coordinate system specific to the actuator. A method is established for finding the control signals that ensure an optimal outcome. Modeling with variation in the throttle aperture over the course of actuator motion is described.