In this study, a position control algorithm being applied to a pneumatic artificial muscle driving apparatus is proposed. The position control algorithm is composed of a feedback controller and a feedforward controller. The feedback controller which f...
In this study, a position control algorithm being applied to a pneumatic artificial muscle driving apparatus is proposed. The position control algorithm is composed of a feedback controller and a feedforward controller. The feedback controller which feeds back position, velocity and acceleration is derived from the linear model of pneumatic artificial muscle driving apparatus. The feedforward controller is designed to improve position trajectory tracking performance. The effectiveness of the designed controller is proved by experimental results.