Title :
1D shape control of IPMC film
Author :
Fujii, Hiromitsu ; Yamakita, Masaki
Author_Institution :
Fac. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
In this paper, we focus on 1D shape that IPMC film forms, and we propose a method of designing target displacement which minimizes the errors between real 1D shape and desired 1D shape for multivariable system, and experimentally evaluate the method using IPMC. We identified a dynamic model of a square IPMC´s edge by applying voltage for patterned surface electrode and we determine target value by minimization problem of Frobenius norm. The efficiency of proposed designing method is evaluated by two kinds of experiments.
Keywords :
electroactive polymer actuators; minimisation; multivariable control systems; shape control; Frobenius norm minimization problem; IPMC film 1D shape control; ionic polymer-metal composite film; multivariable system; patterned surface electrode; square IPMC edge dynamic model; Accuracy; Actuators; Electrodes; Equations; Mathematical model; Minimization; Shape; EAP; IPMC; Modeling; Multivariable control; Soft actuators;
Conference_Titel :
SICE Annual Conference (SICE), 2014 Proceedings of the
Conference_Location :
Sapporo
DOI :
10.1109/SICE.2014.6935242
