• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.540-552
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• 1996

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.

• Journal of the Korean Society of Propulsion Engineers
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• v.13 no.5
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• pp.29-40
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• 2009

Pneumatic system is widely applied to ground facility and launcher on-board system. One of the important aspects of pneumatic system is to meet pressure and flow rate requirements of gas consumers. In this paper, a systematic analytical approach for pneumatic system is proposed, which uses and systematically combines previous studies. The proposed analytical method is that pressure/flow calculation using conservation equations are combined with sonic limit check at vena contracta of the components of pneumatic system, which checks the installed components whether they are merely pressure loss elements or flow limiting element of the system. In this paper, gas consumers are categorized and simulated using the proposed method. The results reveal that the feeding performance of general pneumatic system can be properly estimated using the proposed approach.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.12
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• pp.82-87
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• 2007

Excavator has been used in wide field since the attachment in the end effect can be changeable according to the purpose of working. However, efficiency of work using excavator mainly depends on an operator's ability. For the purpose of improving the efficiency of work and reducing the fatigue of operator, the automatic excavator system has been researched. In this paper, the tracking control system of each links of excavator is designed before developing the automatic excavator system. In order to apply the tracking control system, the pneumatic excavator system is developed and the tracking control system is applied. For designing the tracking control system, the adaptive sliding mode control algorithm is proposed. The performance of the proposed control system is evaluated through experiments using the pneumatic excavator system.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.36.2-36
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• 2002

.Developing a skeletal framework artificial hand similar to real human hand. .Developing a micro artificial muscle actuated by pneumatic power. .Building a micro pneumatic system including micro atuators and its control devices. .Building a soft driving system for Service robots. .Designning and Fabricating a multi-channel micro pneumatic valve using MEMS technology.

• Journal of Power System Engineering
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• v.8 no.4
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• pp.24-30
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• 2004

In this study, a position synchronous control algorithm applied to two-axes pneumatic cylinder driving apparatus is proposed. The position synchronous control algorithm is composed of position controller and synchronous controller. The position controller is designed to minimize the effect of several nonlinear characteristics peculiar to the pneumatic cylinder driving apparatus on position control performance. The synchronous controller is designed to reduce the synchronous error. The effectiveness of the proposed controller is proved by simulation results.

• Journal of Power System Engineering
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• v.15 no.6
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• pp.95-100
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• 2011

In this study, an evaluation equation of energy efficiency of pneumatic driving apparatus is proposed. The evaluation equation is derived from state equation and energy equation of air in a control volume, and, the equation of motion of a moving part of a pneumatic cylinder. As a result, distribution of consumption energy and energy efficiency of pneumatic driving apparatus can be analyzed quantitatively. The effectiveness of the proposed method is proved by a pneumatic cylinder driving apparatus using a meter-out driving method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.103-108
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• 2005

Loading/Unloading task in the real industry is performed by crane, but most of the loading/unloading task with the weight of 5kg∼30kg is done by human workers and this kind of work causes industrial disaster of workers. Therefore it is necessary to develop low cost loading/unloading manipulator system to prevent this kind of industrial accidents. This paper is concerned with the design and fabrication of 2 axis pneumatic manipulators using on/off solenoid valves and accurate position control without respect to the external load and low damping in the pneumatic rotary actuator. To overcome the change of external load, switching of control parameter using LVQNN (Learning Vector Quantization Neural Network) is newly applied, which estimates the external loads in the pneumatic cylinder. As an underlying controller, a state feedback controller using position, velocity and acceleration is applied to the switching control system. The effectiveness of the proposed control algorithms are demonstrated through experiments of pneumatic cylinder with various loads.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.29-34
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• 2021

Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.

• Journal of Power System Engineering
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• v.21 no.6
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• pp.101-109
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• 2017

The pneumatic driving system has advantages such as high output power per weight and low heat generation rate. However, it is difficult to control the position because of its strong non-linearity such as large friction forces compared to driving force, and heat transfer characteristics that change during operation. Therefore, in order to achieve the control objectives, a robust controller should be designed considering modeling error and model uncertainty. In this paper, a sliding mode controller is designed to improve the position control performance of pneumatic cylinder driving system. Experimental results show that the designed controller achieves the designed control objectives even if the model of the cylinder driving system, such as the initial pressure inside the cylinder and the initial position of the piston is changed.

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.335-339
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• 1987

In this report, automatic packing equipment for dairy milk is presented. For food industry, Pneumatic System is widely applied because of it's environments. So, for the actuation, signal processing and sensing of this auto-packer, all pneumatic equipments was applied.