Abstract
Ion polymer metal composite (IPMC) actuators promise a great advance in soft robotics, microrobotics and biomedical applications in a relatively near future, but this will require a deep knowledge in different aspects, such as manufacturing, material characterisation and control strategies. In this paper, frequency responses of a small-scale artificial Eukaryotic flagellum swimming robot manufactured in IPMC are obtained experimentally measuring the flagellum tip motion by means of an optical laser measurement system and actuating in a single point, the end of the flagellum attached to the head. For control purposes, two models consisting of a non-integer order integrator in series with a resonant system of both non-integer and integer order are considered and identified in the frequency range [0.5, 17] Hz. The results show that both models fit the experimental data.KeywordsIPMCSwimmingMicrorobotFractionalModelingFrequency reponse
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