Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Application of LabViewⓇ-Based Parameter Scheduling Programming for a 6-Axis Articulated Robot

LabViewⓇ기반 6축 수직 다관절 로봇의 파라미터 스케쥴링 프로그래밍에 관한 연구

  • Kim, Seong-Bhn (Changwon National University Mechanical Design Engineering) ;
  • Chung, Won-Jee (Changwon National University Mechanical Engineering) ;
  • Kim, Hyo-Gon (Hanyang University Mechatronics Engineering)
  • Received : 2015.02.23
  • Accepted : 2015.04.17
  • Published : 2015.06.15
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Abstract

As industrial robots come into wider use, their control techniques are being developed along with enhancements in their performance. Specially, the dynamic performance of a 6-axis articulated industrial robot is greatly changed according to the position and orientation of the robot. This means that the PI parameter tuning of the robot and orientation of the robot. This mconsidering the dynamic characteristics of robot mechanism. In this study, $LabView^{(R)}$ programming was applied to automatically conduct parameter scheduling for various robot motions. Using forward and inverse kinematics of RS2, we can divide the working envelope of RS2 into 24 subspaces. We then conduct the gain-tuning according to each subspace. Finally, we program the actual gain scheduling, in which the optimized gain-tuning for each subspace to be passed should be changed for various robot motions using $LabView^{(R)}$.

Keywords

References

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  1. LabVIEW®를 이용한 6축 수직 다관절 로봇의 퍼지 로직이 적용된 게인 스케줄링 프로그래밍에 관한 연구 vol.16, pp.4, 2015, https://doi.org/10.14775/ksmpe.2017.16.4.113