Dynamics of pneumatic muscle actuator: Measurement and modeling

Author

Pitel, J. ; Tothova, M.

Author_Institution

Dept. of Math., Inf. & Cybern., Tech. Univ. of Kosice, Presov, Slovakia

fYear

2014

fDate

28-30 May 2014

Firstpage

432

Lastpage

436

Abstract

Due to strongly non-linear characteristics of the pneumatic muscle actuator it is necessary to have suitable dynamic model of this actuator for use in advanced control algorithms. Based on analysis of the actuator principal function and description of its main components the simulation model of the antagonistic actuator with pneumatic artificial muscles using different muscle models was designed and simulated in Matlab / Simulink environment. In the paper there are compared the actuator dynamic characteristics obtained by simulation with the real measured data on the experimental actuator.

Keywords

pneumatic actuators; Matlab-Simulink environment; actuator dynamic characteristics; actuator dynamic model; actuator principal function; antagonistic actuator; control algorithms; pneumatic artificial muscles; pneumatic muscle actuator; Actuators; Biological system modeling; Dynamics; Mathematical model; Muscles; Solenoids; Valves; artificial muscles; dynamic characteristics; muscle model; pneumatic actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ICCC), 2014 15th International Carpathian

Conference_Location

Velke Karlovice

Print_ISBN

978-1-4799-3527-7

Type

conf

DOI

10.1109/CarpathianCC.2014.6843642

Filename

6843642