Modal reduced order model for vision sensing of IPMC actuator

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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 NI-PXI 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.
Publisher
Trans Tech Publications Ltd.
Issue Date
2006
Language
English
Citation

KEY ENGINEERING MATERIALS, v.326-328 II, no.0, pp.1523 - 1526

ISSN
1013-9826
URI
http://hdl.handle.net/10203/91212
Appears in Collection
ME-Journal Papers(저널논문)
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