Journal of Power System Engineering (동력기계공학회지)

The Korean Society for Power System Engineering (한국동력기계공학회)
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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)
  • Received : 2014.09.16
  • Accepted : 2015.01.20
  • Published : 2015.02.28
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Abstract

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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References

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