Control of pneumatic artificial muscle for bicep configuration using IBC

Abstract

This paper presents a control algorithm for pneumatic artificial muscles on bicep configuration. Due to the characteristics such as lower power to weight ratios, high strength and lightweight and easiness of employment, pneumatic artificial muscles have become more attractive actuators for robotics applications. The dynamics equations for bicep configuration were derived with the help of single muscle analysis. Nonlinear dynamic equation was linearized in order to derive the state space model. To obtain the desired tracking performance, inversion based control (IBC) concept was employed. Results show the effectiveness of the proposed methodology.