Angular position control system of pneumatic artificial muscles

Angular position control system of pneumatic artificial muscles

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This article presents a test stand used to determine the angle control of a pair of pneumatic artificial muscles PAM, which work antagonistically like natural muscles, e.g.in the human arm.The muscles Volleyball - Accessories - Bags were designed and produced at the Kielce University of Technology.The technical and functional parameters of the muscles were determined on the basis of experimental research.

The Ziegler-Nichols method of tuning a PID controller on the Shower gel basis of the step response measurement of the open system is also presented for the analysed problem.Experimental research was performed on angle control of a pair of pneumatic muscles with a PID controller.