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—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)
—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)
antagonistic connection. Artificial muscles have unequal filling pressures. Muscle AM1 has a maximum pressure, muscle AM2 has no pressure. Actuator arm is in maximal position. Figure 2. Experimental actuator with pneumatic artificial muscles in antagonistic connection. The used AM are Festo MAS 20–250. Abstract — The paper contains information about the(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 artificial muscles exhibit highly non-linear static characteristics especially due to inherent properties of their materials and compressibility of air. Therefore, it is difficult to control them without adequate modeling and simulation. The paper deals with the numerical approximation of the static characteristics of McKibben pneumatic artificial(More)