동력기계공학회지 (Journal of Power System Engineering)

  • 제19권1호
  • /
  • Pages.31-37
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  • 2015
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  • 2713-8429(pISSN)
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  • 2713-8437(eISSN)
한국동력기계공학회 (The Korean Society for Power System Engineering)
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Force Control of 6-DOF Pneumatic Joystick

  • Tanaka, Yoshito (Korea Brain Pool Researcher, Korea Institute of Machinery & Materials) ;
  • Hitaka, Yasunobu (Department of Control and Information Engineering, Kitakyusyu National College Technology) ;
  • Yun, So-Nam (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Kim, Ji-U (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Jeong, Eun-A (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Park, Jung-Ho (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials) ;
  • Ham, Young-Bog (Department of Extreme Energy Systems, Korea Institute of Machinery & Materials)
  • 투고 : 2014.09.16
  • 심사 : 2015.01.20
  • 발행 : 2015.02.28
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초록

In this paper, it is presented the development of a new type force feedback system. It is based on a 6-DOF Stewart parallel mechanism which has six pneumatic actuated cylinders. The thrust force of each cylinder is controlled by PWM control for the solenoid valve and it is actualized by PIC controller. When the pneumatic actuator is controlled, it must be considered the influence on the compressibility of air. For this problem, we guarantee the control characteristics by the effect of the accumulator. It is confirmed that the thrust force of the cylinder can be applied to the pneumatic parallel mechanism, and is presented the experimental result of force control for vertical direction.

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참고문헌

  1. D. Stewart, A Platform with 6 degrees of freedom, Proc. Inst. Mech. Eng., Vol. 180, Part I, No. 15, pp. 371-386, 1965-66. https://doi.org/10.1243/PIME_PROC_1965_180_029_02
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  5. C. H. Kim, H. J. Jeong and J. H. Yang, The Robust Servo Controller Design of Magnetic Levitation System Considering Pole Assignment Region, J. of KSPSE, Vol. 4, No. 4, pp. 84-91, 2000