*Article* **Determination of the Function of the Course of the Static Property of PAMs as Actuators in Industrial Robotics**

**Darina Matisková 1, Tomáš Cakurda ˇ 1, Daniela Marasová 2,\* and Alexander Balara <sup>1</sup>**


**Abstract:** Current efforts are focused on assembling new constructions while applying non-conventional actuators, for example, artificial pneumatic muscles, in engineering manufacturing processes. The reason is to eliminate stiffness and inflexibility of equipment structures that make sharing the working space of the technological equipment complicated. This article presents the results of experimental measurements of pressures in artificial muscles and rotations of the actuator with artificial muscles at various loads, using a testing device of an antagonistic actuator. The measurement results were used to create the function of the course of the static property of the antagonistic actuator with artificial muscles of the Festo type and to determine a mathematical model of the actuator dynamics, while applying the method of least squares.

**Keywords:** antagonistic system; pneumatic artificial muscles; function; model
