Simulation of the Position Control of PAM, Using Its' Nonlinear Dynamic Model

The paper investigates the mathematical, dynamic nonlinear model, of a single Pneumatic Artificial Muscle (PAM). A Fluid muscle from FESTO, is connected vertically as an oscillating non-linear system with 1 degree of freedom. When the muscle is filled with a working medium -compressed air, there is a change in the pressure over time and muscle parameters (change in length, diameter, fiber braiding angle, mass position, etc.). The simulation of the position of mass is the goal of the research described in this article. A mathematical model of the system, considers the change in the spring stiffness and the damping factor. At the same time, the model considers the effect of time pressure changes, on system oscillation. The article provides a few examples, which help specify the positioning model (also identifying values of individual coefficients of quantities occurring in the model).