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Control of antagonistic pair of Pneumatic Muscles
Klapil, Ondřej ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with controls of pneumatic muscles in antagonistic involvement. Mathematical-physical model of McKibben's pneumatic muscle is deduced in this work. A computer model is created using Matlab and the method of controls of the muscle is designed. The next section describes a real system with pneumatic muscles, its practical realization and design of controllers for this system. The last part is a comparison of the created mathematical-physical model and the real system with regard to the possibility of using the model for designing controllers for real systems.
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Control of antagonistic pair of Pneumatic Muscles
Klapil, Ondřej ; Burian, František (referee) ; Kopečný, Lukáš (advisor)
This thesis deals with controls of pneumatic muscles in antagonistic involvement. Mathematical-physical model of McKibben's pneumatic muscle is deduced in this work. A computer model is created using Matlab and the method of controls of the muscle is designed. The next section describes a real system with pneumatic muscles, its practical realization and design of controllers for this system. The last part is a comparison of the created mathematical-physical model and the real system with regard to the possibility of using the model for designing controllers for real systems.
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