Enhanced Dynamic Model of Pneumatic Muscle Actuator with Elman Neural Network

Figure 5

Arm and shaft dimensions for moment of inertia calculations (in the scheme, is shaft length [m], is shaft diameter [m], is shaft mass [kg], is arm length [m], is arm diameter [m], is arm mass [kg], is shaft moment of inertia [kgm²], is arm moment of inertia [kgm²], is load weight [kg], and is parallel axis distance [m]).