한국정밀공학회:학술대회논문집 (Proceedings of the Korean Society of Precision Engineering Conference)
- 한국정밀공학회 2005년도 춘계학술대회 논문집
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- Pages.1836-1840
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- 2005
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- 2005-8446(pISSN)
Hyundai 8608 Robot 제어기 파라미터 튜닝 방안 연구
A Study on the Control Parameter Tuning Method of the Hyundai 8608 Robot
- Kim Mi-Kyung (UOU) ;
- Yoon Cheon-Seok (Graduate School, UOU) ;
- Kang Hee-Jun (UOU) ;
- Suh Young-Soo (UOU) ;
- Ro Young-Shick (UOU) ;
- Son Hong-Rae (Hyundai Motor Company)
- 발행 : 2005.06.01
초록
This work proposes a controller tuning method of a Hyundai 8608 robot in order to improve its performance. For this, we analyzed the control structure of the robot, and the functions of all the adjustable parameters in the robot controller with a reference 'NACHI Technical Report'. Through the analysis, we found out that 3 important parameters(VRRL, VRF, VRGIN) act like a conventional PID gains and other parameters are closely related to these 3 parameters. Conclusively, parameter tuning of these 3 parameters is enough in most cases of applications with other parameters fixed. The conventional PID tuning is performed to each joint of the test robot with Robot Performance Evaluation System(shown in our companion paper) so that the acceptable gain ranges for each joint are determined and then the robot performance tests are repeatedly done with the combination of the acceptable gains. Finally, the best combination is selected for its best performance. For the effectiveness of the proposed method, it was implemented on a Hyundai 8608 robot and its results are compared with the results of NACHI's Semi-Auto Tuning Method and the results which are done by a tuning expert with his eyes.
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