Abstract
Initial work on path generation routines for the University of Surrey Manipulator demonstrated the need for an improved control strategy. In view of the difficulties encountered in obtainins such a strategy by analytical means it was decided to investigate the feasibility of seneratins switching profiles for individual degrees of freedom of the manipulator by a suitable computer simulation. A computer implementation of an exponential constant volume pressure transient formed the basis for a simulation of one degree of freedom of the manipulator that requires a minimum of experimental data for its operation. Using this approach a simulation of the trajectory of a single axis of the manipulator under the control of a simple switch-over sequence was carried out in forward and reverse time It was argued that such a simulator package is suitable for the generation of switching profiles for the axis and a number of suggestions were made concerning the use of such simulators as the basis for the control of the arm.