Investigation on PID Position Control of Joint Actuated by Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAM) is a kind of actuator using compressed air as actuating medium.The joint actuated by pneumatic artificial muscles has the characteristics of light weight and good character of pliancy.Pneumatic artificial muscles has the obvious demerit like nonlinear,sluggish and so on.It′s difficult to control its position.In order to improve its control precision,some control strategy is used.Investigation on position control of joint actuated by pneumatic artificial muscles is presented,and this investigation implements the joint′s position track by PID control.The experimental result is effective to validate the strategy of control.This work is useful for the joint actuated by pneumatic artificial muscles.