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

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-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 languageEnglish
Title of host publicationActas de las XXXIX Jornadas de Automática
EditorsInés 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 PublicationBadajoz, Spain
PublisherUniversidad de Extremadura
Pages717-724
ISBN (Print)978-84-09-04460-3
Publication statusPublished - 2018
EventXXXIX Jornadas de Automática - Badajoz, Spain
Duration: 5 Sep 20187 Sep 2018

Conference

ConferenceXXXIX Jornadas de Automática
CountrySpain
CityBadajoz
Period5/09/187/09/18

Keywords

  • IPMC
  • actuator
  • characterization
  • model
  • identification
  • control
  • MATLAB

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