A test-bed for visual servo control of artificial muscle micro-robot with parallel architecture

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publication2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
Pages848-853
Volume2006
Publication statusPublished - 2006
Externally publishedYes

Publication series

Name
Volume2006

Conference

Title2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006
PlaceChina
CityLuoyang
Period25 - 28 June 2006

Abstract

Artificial muscles, or soft smart materials, are being increasingly used to build micro-manipulators. Electroactive polymer (EAP) actuators, including electronic EAP and ionic EAP, are attracting interest from research community because of their potential to achieve high strains and therefore high displacements. However, their application is limited by their ability to generate large forces. A parallel architecture, i.e. handling objects using multiple polymer actuators, can greatly enhance their load carrying ability. A significant technical challenge presented by micro-manipulators based on artificial muscle actuators is the nonlinearity of actuator dynamics. Currently, there is no satisfactory model that can used in the control design. Visual servo (VS) control of the displacements of a robot in closed-loop using the data provided by one or multiple cameras is presented as a possible approach to this problem. A parallel architecture micro-gripper is designed as a prototype of a micro-gripper. A vision system is developed to identify dynamic behaviors of IPMC arms and design a control system for the parallel micro-gripper. Preliminary identification and control results are given. Visual servoing motion control is introduced. ©2006 IEEE.

Research Area(s)

  • Electro- active polymer (EAP), Micro-robot, Parallel architecture, Visual servo control

Citation Format(s)

A test-bed for visual servo control of artificial muscle micro-robot with parallel architecture. / Wang, Xiaoyun; Wang, Lidai; Guo, Shuxiang et al.
2006 IEEE International Conference on Mechatronics and Automation, ICMA 2006. Vol. 2006 2006. p. 848-853 4026195.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review