Frequency response of IPMC actuators: Physical characterization and identification for control

Miguel Lopez Romero; Javier Prieto-Arranz; Jose Emilio Traver; Andres Hunt; Hassan Hossein Nia Kani; Ines Tejado; Blas M. Vinagre

Frequency response of IPMC actuators: Physical characterization and identification for control

Miguel Lopez Romero, Javier Prieto-Arranz, Jose Emilio Traver, Andres Hunt, Hassan Hossein Nia Kani, Ines Tejado, Blas M. Vinagre

Mechatronic Systems Design

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deflection by means of a laser distance meter.

Original language	English
Title of host publication	Actas de las XXXIX Jornadas de Automática
Editors	Inés Tejado Balsera, Emiliano Pérez Hernández, Antonio José Calderón Godoy, Isaías González Pérez, Pilar Merchán García, Jesús Lozano Rogado, Santiago Salamanca Miño, Blas M. Vinagre Jara
Place of Publication	Badajoz, Spain
Publisher	Universidad de Extremadura
Pages	717-724
ISBN (Print)	978-84-09-04460-3
Publication status	Published - 2018
Event	XXXIX Jornadas de Automática - Badajoz, Spain Duration: 5 Sep 2018 → 7 Sep 2018

Conference

Conference	XXXIX Jornadas de Automática
Country	Spain
City	Badajoz
Period	5/09/18 → 7/09/18

Keywords

IPMC
actuator
characterization
model
identification
control
MATLAB

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978-84-09-04460-3_717Final published version, 7.63 MBLicence: CC BY-NC

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Lopez Romero, M., Prieto-Arranz, J., Traver, J. E., Hunt, A., Hossein Nia Kani, H., Tejado, I., & Vinagre, B. M. (2018). Frequency response of IPMC actuators: Physical characterization and identification for control. In I. Tejado Balsera, E. Pérez Hernández, A. J. Calderón Godoy, I. González Pérez, P. Merchán García, J. Lozano Rogado, S. Salamanca Miño, & B. M. Vinagre Jara (Eds.), Actas de las XXXIX Jornadas de Automática (pp. 717-724). Universidad de Extremadura.

Lopez Romero, Miguel ; Prieto-Arranz, Javier ; Traver, Jose Emilio ; Hunt, Andres ; Hossein Nia Kani, Hassan ; Tejado, Ines ; Vinagre, Blas M. / Frequency response of IPMC actuators : Physical characterization and identification for control. Actas de las XXXIX Jornadas de Automática. editor / Inés Tejado Balsera ; Emiliano Pérez Hernández ; Antonio José Calderón Godoy ; Isaías González Pérez ; Pilar Merchán García ; Jesús Lozano Rogado ; Santiago Salamanca Miño ; Blas M. Vinagre Jara. Badajoz, Spain : Universidad de Extremadura, 2018. pp. 717-724

@inproceedings{357cb8e624374642bd4f9afd8b4cc7ca,

title = "Frequency response of IPMC actuators: Physical characterization and identification for control",

abstract = "Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deflection by means of a laser distance meter.",

keywords = "IPMC, actuator, characterization, model, identification, control, MATLAB",

author = "{Lopez Romero}, Miguel and Javier Prieto-Arranz and Traver, {Jose Emilio} and Andres Hunt and {Hossein Nia Kani}, Hassan and Ines Tejado and Vinagre, {Blas M.}",

year = "2018",

language = "English",

isbn = "978-84-09-04460-3",

pages = "717--724",

editor = "{Tejado Balsera}, {In{\'e}s } and {P{\'e}rez Hern{\'a}ndez}, {Emiliano } and {Calder{\'o}n Godoy}, {Antonio Jos{\'e} } and {Gonz{\'a}lez P{\'e}rez}, {Isa{\'i}as } and {Merch{\'a}n Garc{\'i}a}, {Pilar } and {Lozano Rogado}, {Jes{\'u}s } and {Salamanca Mi{\~n}o}, {Santiago } and {Vinagre Jara}, {Blas M. }",

booktitle = "Actas de las XXXIX Jornadas de Autom{\'a}tica",

publisher = "Universidad de Extremadura",

note = "XXXIX Jornadas de Autom{\'a}tica ; Conference date: 05-09-2018 Through 07-09-2018",

}

Lopez Romero, M, Prieto-Arranz, J, Traver, JE, Hunt, A , Hossein Nia Kani, H, Tejado, I & Vinagre, BM 2018, Frequency response of IPMC actuators: Physical characterization and identification for control. in I Tejado Balsera, E Pérez Hernández, AJ Calderón Godoy, I González Pérez, P Merchán García, J Lozano Rogado, S Salamanca Miño & BM Vinagre Jara (eds), Actas de las XXXIX Jornadas de Automática. Universidad de Extremadura, Badajoz, Spain, pp. 717-724, XXXIX Jornadas de Automática, Badajoz, Spain, 5/09/18.

Frequency response of IPMC actuators : Physical characterization and identification for control. / Lopez Romero, Miguel; Prieto-Arranz, Javier; Traver, Jose Emilio; Hunt, Andres ; Hossein Nia Kani, Hassan; Tejado, Ines; Vinagre, Blas M.

Actas de las XXXIX Jornadas de Automática. ed. / Inés Tejado Balsera; Emiliano Pérez Hernández; Antonio José Calderón Godoy; Isaías González Pérez; Pilar Merchán García; Jesús Lozano Rogado; Santiago Salamanca Miño; Blas M. Vinagre Jara. Badajoz, Spain : Universidad de Extremadura, 2018. p. 717-724.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

TY - GEN

T1 - Frequency response of IPMC actuators

T2 - XXXIX Jornadas de Automática

AU - Lopez Romero, Miguel

AU - Prieto-Arranz, Javier

AU - Traver, Jose Emilio

AU - Hunt, Andres

AU - Hossein Nia Kani, Hassan

AU - Tejado, Ines

AU - Vinagre, Blas M.

PY - 2018

Y1 - 2018

N2 - Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deflection by means of a laser distance meter.

AB - Ionic polymer metal composite (IPMC) actuators have promising applications in robotics and medicine in a not distance future, which will require a big knowledge in different fields, such as, manufacturing, material characterization and control theory. In this paper, frequency response of several IPMC actuators, cut from the same bulk IPMC sheet with a micro laser etching machine, is analyzed. Specifically, the objective is to1) characterize each actuator, i.e., determine how cutting affects to the parameters of the physical model of this kind of actuators, and 2) identify a model for each actuator for control purposes. The frequency responses have been obtained experimentally in LabVIEW by attaching a couple of gold electrodes to each IPMC unit and measuring the tip deflection by means of a laser distance meter.

KW - IPMC

KW - actuator

KW - characterization

KW - model

KW - identification

KW - control

KW - MATLAB

M3 - Conference contribution

SN - 978-84-09-04460-3

SP - 717

EP - 724

BT - Actas de las XXXIX Jornadas de Automática

A2 - Tejado Balsera, Inés

A2 - Pérez Hernández, Emiliano

A2 - Calderón Godoy, Antonio José

A2 - González Pérez, Isaías

A2 - Merchán García, Pilar

A2 - Lozano Rogado, Jesús

A2 - Salamanca Miño, Santiago

A2 - Vinagre Jara, Blas M.

PB - Universidad de Extremadura

CY - Badajoz, Spain

Y2 - 5 September 2018 through 7 September 2018

ER -

Lopez Romero M, Prieto-Arranz J, Traver JE, Hunt A , Hossein Nia Kani H, Tejado I et al. Frequency response of IPMC actuators: Physical characterization and identification for control. In Tejado Balsera I, Pérez Hernández E, Calderón Godoy AJ, González Pérez I, Merchán García P, Lozano Rogado J, Salamanca Miño S, Vinagre Jara BM, editors, Actas de las XXXIX Jornadas de Automática. Badajoz, Spain: Universidad de Extremadura. 2018. p. 717-724

Frequency response of IPMC actuators: Physical characterization and identification for control

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