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Pneumatic artificial muscles - based robotic systems usually necessitate the use various nonlinear control techniques in order to improve their performance. Moreover, their robustness to parameter variation, which is generally hardly predictable, should also be tested. Here a fast hybrid adaptive control is proposed, where a conventional PD controller is(More)
Dynamic models of pneumatic artificial muscles (PAMs) are important for simulation of the movement dynamics of the PAM-based actuators and also for their control. The simple models of PAMs are geometric models, which can be relatively easy used under certain simplification for obtaining of the static and dynamic characteristics of the pneumatic artificial(More)
Antagonistic actuator with pneumatic artificial muscles (PAMs) is a kinematic structure that consists of two pneumatic muscles acting in opposition to each other, connected through the chain gear. The resulting position of the actuator can be determined by the angle of arm of the load attached to a shaft. Stiffness position of shaft in the given direction(More)
The paper contains information about the function and basic properties of the actuator based on pneumatic artificial muscles. It describes the design method of control structure of such actuator and shows the nonlinear static and dynamic characteristics of this actuator. The step responses and the non-linear static and dynamic characteristics were measured(More)
Dynamic simulation model of the actuator with two pneumatic artificial muscles in antagonistic connection was designed and built in Matlab Simulink environment. The basis for this simulation model was dynamic model of the pneumatic actuator based on advanced geometric muscle model. The main dynamics characteristics of such actuator were obtained by model(More)
Pneumatic muscle actuator exhibits strong nonlinear behavior and it requires use advanced control algorithms based also on computational intelligence techniques as for example hybrid fuzzy adaptive control. These sophisticated control methods could be capable of handling the system's nonlinear properties. In the paper there is presented nonlinear dynamic(More)
Pneumatic muscle actuators usually use various non-linear control techniques in order to improve their performance. Therefore a hybrid adaptive control scheme with reference model was designed where a conventional PD controller in the feedforward branch and a fuzzy controller in the adaptation branch were used. In the paper two types of fuzzy adaptive(More)
The pneumatic actuator with artificial muscles in antagonistic connection was designed and realized as result of several research projects solved at the authors' workplace. Three simulation models of this actuator using different muscle models were created in Matlab/Simulink environment for obtaining of some actuator dynamic characteristics. The position of(More)
The current equipment for generating of the rotational motion by antagonistic pneumatic muscle actuator is standardly solved with a circular pulley, on which a flexible strip is strung and its ends are connected with artificial muscles. However, in this solution, torque and stiffness of such actuator decrease with increasing rotation of the actuator arm.(More)