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 |
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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 Sept 2018 → 7 Sept 2018 |
Conference
Conference | XXXIX Jornadas de Automática |
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Country/Territory | Spain |
City | Badajoz |
Period | 5/09/18 → 7/09/18 |
Keywords
- IPMC
- actuator
- characterization
- model
- identification
- control
- MATLAB