Simulation of actuator dynamics based on geometric model of pneumatic artificial muscle

Author

Tothova, M. ; Pitel, J.

Author_Institution

Dept. of Math., Tech. Univ. of Kosice, Presov, Slovakia

fYear

2013

fDate

26-28 Sept. 2013

Firstpage

233

Lastpage

237

Abstract

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 simulation, as for example muscle force change, pressure change in muscle, arm position of the actuator. Simulation results will be used in design of control system of such actuator using model reference adaptive controller.

Keywords

control engineering computing; control system synthesis; geometry; mathematics computing; model reference adaptive control systems; pneumatic actuators; Matlab Simulink environment; actuator dynamics; advanced geometric muscle model; antagonistic connection; arm position; control system design; dynamic simulation model; model reference adaptive controller; muscle force change; pneumatic actuator; pneumatic artificial muscle; pressure change; Actuators; Atmospheric modeling; Force; Mathematical model; Muscles; Solenoids; Valves; actuator; dynamic simulation; pneumatic artificial muscle;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Informatics (SISY), 2013 IEEE 11th International Symposium on

Conference_Location

Subotica

Print_ISBN

978-1-4799-0303-0

Type

conf

DOI

10.1109/SISY.2013.6662577

Filename

6662577