Dynamics and Control of a Pneumatically Actuated Robotic Manipulator

This paper deals with the dynamics and control of a two degree of freedom robot arm actuated by pneumatic artificial muscles (PAMs). The high power-weight ratio of PAMs justifies their use as actuators in robotics. To achieve trajectory tracking performance, controllers are constructed based on a dynamic model of the robot arm. Due to the high non-linear dynamics of the robotic system, fuzzy control is used for trajectory tracking tasks. The results in simulation are shown to achieve sufficiently good tracking performance.