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A spherical joint system driven by pneumatic artificial muscle is constructed. As pneumatic artificial muscle has strong nonlinear characteristics and traditional control methods are hard to overcome the contradictions among control precision, adjusting speed and stability, the 2 order auto-disturbancerejection controller is introduced. The position control of the spherical joint can be realized by auto-disturbance-rejection controller or PID controller. The experimental results show that auto-disturbance-rejection controller can achieve better control effect than PID controller with steady precision less than 0.4°. Keywords-PMA;spherical joint; position control;ADRC

Position Control for the Spherical Joint Driven by PMAs