Abstract: Pneumatic artificial muscles (PAMs) are widely used in flexible robots, bionic robots and other robot fields.But the strong nonlinearity and the obvious hysteresis directly affect the precision control of PMAs. Aiming at the problem of PMAs dynamic modeling, a complete model of PMAs, which contains ideal term and nonlinear hysteresis term, is built. The model was simulated and validated that the accuracy of PMAs can be significantly improved:the go-accuracy has been increased by 10%, the return-accuracy has been increased by 33%. Further, the presented model was applied to the active contact force flange of robot. The trajectory tracking experiment results prove that the accuracy of force control increase from ±15 N to ±5 N, and model can provide an improvement of 40% in the return-accuracy of the force flange. Meanwhile, the inaccurate problem of the force flange return output force has been resolved. The research results establish the theoretical foundation for further improve the force control accuracy in robot flexible processing and assembly field.

Key words: Mckibben pneumatic artificial muscle, hysteresis model, force control