Modal Reduced Order Model for Vision Sensing of IPMC Actuator

Abstract:

In order to control the IPMC (Ionic Polymer Metal Composite) actuators, it is necessary to use a vision sensing system and a reduced order model from the vision sensing data. In this study, the MROVS (Modal Reduced Order Vision Sensing) model using the least square method has been developed for implementation of the biomimetic motion generation. The simulated transverse displacement is approximated with a sum of the lower mode shapes of the cantilever beam. The NIPXI 1409 image acquisition board and CCD camera (XC-HR50) are used in the experimental setup. Present results show that the MROVS model can efficiently process the vision sensing of the biomimetic IPMC actuator with cost-effective computational time.

• Periodical: Key Engineering Materials (Volumes 326-328)
• Pages: 1523-1526
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.326-328.1523
• Online since: December 2006
• Authors: Il Kweon Oh, Seong Won Yeom, Dong Weon Lee
• Keywords: Biomimetic Motion, IPMC Actuator, Modal Reduced Order Model, Vision Sensing

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DOI: 10.1016/s0013-4686(00)00695-2

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