Identification system planar manipulator dynamics based on pneumatic artificial muscles

摘要

The system for identifying a planar manipulator based on pneumatic artificial muscles consisting of a control signal source block (1), control signal normalization block (2), block (3)control signal delay, filter block (4) and position signal normalization, delay block (5) a position signal, a multiplexer block (6), a top axial dynamics fuzzy model block (7), a top axle differential block (8), a lower axis dynamics fuzzy model block (9) and a lower axis differential block (10).