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One of the most known drives in the field of soft robotics are pneumatic artificial muscles. The paper presents design of a control algorithm based on the state space for manipulation device based on pneumatic artificial muscles in antagonistic configuration. There are a number of different designs of these muscles that differ in their properties but not in their basic principle of function. Because of their specific design they have a considerable ratio of their force to their weight, they are naturally flexible, they have low total weight and they are not demanding for maintenance. On the other hand they have non-linear characteristic and they are characterized by hysteresis. This property makes modeling and control of these drives much more difficult and their application in robotics is therefore directly dependent on the perfection of a computerized control system. The state space control is suitable for all higher order dynamic systems that would be very difficult to control with conventional algorithms. However the manipulation device with pneumatic artificial muscles has a non-linear dynamics we have to consider these non-linearities at design of the control algorithm. The designed control algorithm is verified by simulation in Matlab/Simulink.