Model-based motion control strategies for antagonistic elbow joint platforms typically rely on canceling system dynamics to achieve precise angular position regulation. However, when actuator limitations—such as constrained pneumatic capacity–are considered, sophisticated controllers often become impractical, compromising control objectives. This paper presents a simple yet effective control strategy based on the characterization of an antagonistic pneumatic artificial muscle platform, considering workspace and torque requirements. The proposed approach addresses actuator constraints while maintaining acceptable motion performance. Experimental validation is conducted on a mechanical elbow joint with available pneumatic actuation limited to 0–2 bar, significantly lower than the typical 0–6 bar operating range for pneumatic muscles. Results demonstrate that despite these constraints, the method achieves angular position regulation within the practical limits of the actuation system. This approach offers a viable solution where complex controllers are infeasible, providing insights into the refinement of control strategies for constrained pneumatic actuation.