Study on the Pose Control of a 6 DOF Simulator with Pneumatic Cylinder Driving Apparatus

공기압실린더 구동장치를 이용한 6자유도 시뮬레이터의 자세제어에 관한 연구

In this study, 6-DOF simulator using pneumatic cylinder driving apparatus was manufactured because a pneumatic cylinder driving apparatus is superior to electric driving motor and hydraulic actuator, which used in traditional 6-DOF simulator, in competitive price and acceleration performance, and, 6-DOF motion can be realized at a low price in case that relatively low load is imposed on the simulator. The possible range of pose control of the simulator was investigated by inverse kinematics, and, it was controlled by a linear controller derived from linear model of the simulator. The Experimental results show that the simulator follows given coordinate well.