Angular position control system of pneumatic artificial muscles

Abstract

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 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 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.