Abstract
This paper presents the development and design of a bio-inspired artificial muscle actuator. The proposed design uses ionic polymeric metallic composites (IPMC), which functions as the force generating source in the actuator. The relation between input voltage and position of the end point IPMC actuator was characterised experimentally. A mathematical model is developed and used in controlling the IPMC motion using a PID controller. The controller shows a good tracking of the reference signals sent to test the system. A real time control system is developed. Experimental results show that it exhibited good tracking with respect to the reference signals.
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