Modal Reduced Order Model for Vision Sensing of IPMC Actuator

Abstract:

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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.

Info:

Periodical:

Key Engineering Materials (Volumes 326-328)

Edited by:

Soon-Bok Lee and Yun-Jae Kim

Pages:

1523-1526

DOI:

10.4028/www.scientific.net/KEM.326-328.1523

Citation:

I. K. Oh et al., "Modal Reduced Order Model for Vision Sensing of IPMC Actuator", Key Engineering Materials, Vols. 326-328, pp. 1523-1526, 2006

Online since:

December 2006

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Price:

$35.00

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