Analysis of Step Responses in Nonlinear Dynamic Systems Consisting of Antagonistic Involvement of Pneumatic Artificial Muscles

Table 2

Initial conditions and constant parameters for experimental measurements.

Initial conditions	Value	Units	Annotation
Ambient temperature	24.2	[°C]	—
Air tank pressure	Max. 7.5	[bar]	The pressure at the electropneumatic valves inlet.
Pressure sensors power supply	23	[V]	Laboratory power supplies.
Control valves power supply	24	[V]	Laboratory power supplies.
Pressure in PAM	2	[bar]	Initial operating pressure.
Pressure tolerance	0.05	[bar]	Setting in GUI of the control system.
Position angle of the support arm	0	[°]	—
Position tolerance	±1	[°]	Setting in GUI of the control system.
PWM	20–100	[%]	Determined by the control program in each of its cycles ( Hz).
Weight	400/25/90	N/mm/°	Arm without weights (force determined owing to the shaft axis, with the supporting arm rotation to 90°).