Analysis of Incremental Measurement of the Arm Position with Actuator

Abstract

The article contains information about the function and basic properties of the actuator based on pneumatic artificial muscles. The article presents the measurement results of the response of the actuator arm displacement depending on the input pulse. This dependence enables artificial muscles to be better adjusted to the needs of a practical operation, especially in terms of lagging. The article also included calculations of velocity and acceleration of individual time intervals. For the possibility of simulation application, a mathematical model of the approximation curve of the response development is presented.